Method and system for remote or autonomous holding a tree trunk

ABSTRACT

The invention relates to a system for remote and/or autonomous holding at least a portion of a tree trunk, said system comprising: a remotely and/or autonomously controlled Unmanned Aerial Vehicle (100), UAV, at least one remotely and/or autonomously controlled means (105) for holding at least a portion of a tree trunk attachable to said UAV (100), means for detecting at least a portion of a tree, means for detecting at least one tree parameter of at least a portion of a tree and/or at least one growing condition of at least a portion of a tree, a base station for communication with said UAV (100), means configured for directing said means (105) for holding at least a portion of a tree trunk to a particular position of said tree trunk depending on said at least one detected tree parameter and/or said at least one detected growing condition.

TECHNICAL FIELD OF THE INVENTION

The present invention relates in general to the field of lignoharvesting and/or transporting and in particular to methods and systemsfor remote and/or autonomous holding at least a portion of a ligno trunkduring harvesting or holding at least a portion of a ligno trunk duringtransporting.

BACKGROUND OF THE INVENTION

Traditional ligno harvesting or ligno falling has long been conducted bypersons and equipment based on the ground. In earlier times, from theearly twentieth century and going back to the early nineteenth century,little consideration was given to the state of the forest or to theeco-system within the forest. Logging was done on a massive scale tokeep up with the demand caused by the industrial revolution and thesubsequent expansion of human life at the time. Depending on theterrain, ligno harvesting process usually begins with experienced lignofellers cutting down a stand of ligno parameter or by using heavy groundbased manned harvesting machines.

The above-described methods represent a high level of risk, either tothe environment or the people performing the work. Damage can also bedone to the delicate ecology of the forest, known as the understory orunderbrush, where smaller plants bind the soil together and provide ahabitat to insects, birds, lichens, and fungus among other things.

Most importantly, many locations are extremely difficult to reach byland, even with the use of heavy equipment such as bulldozers, andremoval of ligno from such locations is expensive.

Sometimes it may be desirable to harvest a single ligno amongst a standof ligno, so called ligno thinning, without disturbing the surroundingligno.

In U.S. Pat. No. 6,263,932 it is disclosed an aerial ligno harvestingapparatus. A first body of said apparatus is suspended from helicopterand a second body is suspended by cables from the first body. Theapparatus is capable of delimbing and cutting the ligno and thereaftertransporting the harvested ligno to another location.

There is a need in the art for a method and apparatus for a moreefficient remote or autonomous handling of a ligno trunk duringharvesting and/or transportation.

OBJECT OF THE INVENTION

The present invention aims at obviating the aforementioned problem. Aprimary object of the present invention is to provide an improved systemfor holding at least a portion of a ligno trunk.

Another object of the present invention is to provide an improved methodfor holding at least a portion of ligno trunk.

SUMMARY OF THE INVENTION

According to the invention at least the primary object is attained bymeans of the system having the features defined in the independentclaims.

Preferred embodiments of the present invention are further defined inthe dependent claims.

According to a first aspect of the present invention it is provided asystem (10) for remote and/or autonomous holding at least a portion of aharvested ligno trunk and/or at least a portion of a ligno trunk to beharvested and/or at least a portion of a ligno trunk during harvestingand/or at least a portion of a ligno trunk before, during and/or aftertransporting said at least a portion of a ligno trunk, said system (10)comprising:

-   -   a. at least one remotely and/or autonomously controlled Unmanned        Aerial Vehicle (100), UAV,    -   b. at least one means for holding (105) directly and/or        indirectly onto at least a portion of a ligno trunk attachable        to or integrated with said UAV,    -   c. at least one means for detecting at least a portion of a        ligno,    -   d. at least one means for detecting at least one ligno parameter        of at least a portion of a ligno and/or at least one growing        condition of at least a portion of a ligno,    -   e. at least one base station (120) for communication with said        UAV,    -   f. at least one means configured for directing said at least one        means for holding onto at least a portion of a ligno trunk,        where said holding is directly or indirectly onto at least a        portion of a ligno trunk, to a particular position of at least a        portion of a ligno trunk depending on said at least one detected        ligno parameter and/or said at least one detected growing        condition and/or    -   g. at least one means configured for directing at least a        portion of a ligno trunk to a particular position, where said        particular position is directly or indirectly onto said at least        one means for holding, depending on said at least one detected        ligno parameter and/or said at least one detected growing        condition, wherein said at least one means for holding is        configured to be transported by said at least one UAV to said at        least a portion of a ligno trunk to be held by said at least one        means for holding and/or is transported by said at least one UAV        away from said at least a portion of a ligno trunk held by said        means for holding and/or where said at least one means for        holding is attached to said at least one UAV at least once when        holding during transporting and/or harvesting said ligno trunk.

An advantage of this embodiment is that the holding position of at leasta portion of a ligno trunk may be optimized depending on the lignoitself and/or of the characteristics of the area where it is located.

Still another advantage of the present invention is that transportationof at least a portion of a ligno may be faster and more efficientcompared to prior art since its holding position is taking into accountnot only characteristics of the ligno itself but may also take intoaccount parameters of its surrounding. This may result in a moreefficient and/or secure transportation.

Yet another advantage is that the present invention provides for anintegrated solution for unmanned holding of at least a portion of aligno trunk.

In various example embodiments of the present invention said means forholding is remotely and/or autonomously controlled.

The advantage of these embodiments is that the means for holding may becontrolled together with and/or from the UAV or controlled separatelyfrom said UAV at a distance from said means for holding.

In various example embodiments of the present invention, it furthercomprising at least one means for delimbing, at least one means fordebarking, at least one means for cutting and/or at least one means forharvesting.

The advantage of these embodiments is that not only cutting may becontrolled at distance but also additional harvesting steps such asdebarking, delimbing.

In various example embodiments the present invention said at least oneremotely and/or autonomously controlled means for holding (105) directlyand/or indirectly at least a portion of a ligno trunk is configured tomove directly or indirectly on ground and/or move directly or indirectlyup and/or down on a ligno trunk.

An advantage of these embodiments is that said means for holding maytransport itself to a predetermined ligno on ground and later beattached to the UAV for transportation of the ligno trunk.

In various example embodiments of the present invention, said means fordetecting said at least one ligno parameter and/or at least one growingcondition comprising a camera and/or using a database with digitalinformation about said at least a portion of a ligno and/or a lignowithin a predetermined distance from said at least a portion of a ligno.

An advantage of these embodiments is that ligno features may be detectedon the fly and/or being detected prior to transporting/harvesting andstored digitally together with a position of the ligno. In variousexample embodiments a digital marker may be attached to the lignoconfigured to communicate with the UAV and transmitting informationabout at least one ligno feature.

In various example embodiments of the present invention said UAV andsaid means configured for holding directly and/or indirectly at least aportion of the lignotrunk is communicating with each other via one ormore of WiFi, Bluetooth, radio communication, optical fibre and/orelectrical wire.

An advantage of these embodiments is that the means configured forholding the ligno trunk and said UAV can be physically separated fromeach other.

Another advantage of these embodiments is that said means for holding atleast a portion of a ligno trunk and said UAV may be controlledindividually independently of each other.

In various example embodiment of the present invention, it furthercomprising means configured for automatically detect a final destinationand/or locating a ligno in a predetermined area and/or locating a lignoat a final destination.

An advantage of these embodiments is that the ligno localization may beperformed fully automatic without the help of an operator. Such meansmay include one or more of a GNSS and/or a camera and/or optical sensor.Such means may also include machine learning/artificial intelligence inorder to recognise a suitable ligno and/or a suitable position of aligno trunk to attach said means configured for holding the ligno trunk.

In various example embodiments of the present invention, it may comprisea synchronization unit for synchronizing the movement of at least twoUAV for transporting cutting, holding, delimbing, harvesting and/ordebarking of at least a portion of a ligno trunk.

An advantage of these embodiments is that a plurality of UAV may be usedin synchronism with each other for transporting heavy ligno/trunks orportions thereof and that it is more efficient, less expensive andeasier to use. The synchronisation unit may either be arranged in one ofthe UAV being a master UAV for the other slave UAV or in aremote-control unit for synchronising all UAV at a remote distance.

In various example embodiments of the present invention, it furthercomprises means for determining the number of UAV to be used togetherfor transporting and/or holding said at least a portion of a ligno trunkdepending on said at least one ligno feature and/or the distance betweenan original location of said at least a portion of a ligno trunk to afinal destination.

An advantage of this embodiment in that the load capacity of the UAV maybe optimized, i.e., not using overly large UAV and/or excessive numberof UAV. Another advantage of this embodiment is that the size of UAV maybe reduced resulting in an increased maneuverability, less powerconsumption and/or usability.

In various example embodiments of the present invention furthercomprising means configured for selecting at least a portion of a lignotrunk to be transported depending on at least one detected lignoparameter and/or at least one detected growing condition of said lignotrunk to be transported and/or of another portion of a ligno from whichsaid ligno trunk originates and/or of at least one ligno grown within apredetermined distance from said ligno trunk to be transported and/or aligno at said final destination.

An advantage of this embodiment is that the selection of a portion of aligno trunk to be transported can be made from a remote location.

Another advantage of the present invention is that it may have none orat least very little impact on the nature. In various exampleembodiments of the present invention it further comprising meansconfigured for selecting at least one cutting position on at least aportion of a ligno trunk depending on the at least one detected lignoparameter and/or the at least one detected growing condition of at leasta portion of a ligno.

An advantage of these embodiments is that the holding position of thetree trunk may be selected depending on the desired cutting position ofsaid tree trunk.

In various example embodiments of the present invention it furthercomprising means configured for directing said remotely and/orautonomously controlled UAV with at least a portion of a ligno trunk toa final destination a certain point in time where said final destinationand/or said certain point in time is depending on at least one detectedligno parameter and/or at least one detected growing condition of saidtransported portion of a ligno and/or of a remaining portion of a lignoand/or of at least one ligno grown within a predetermined distance fromsaid transported portion of a ligno.

An advantage of these embodiments is that transportation of at least aportion of a ligno may be faster and more efficient compared to priorart since different kinds of portions of ligno are directed to differentlocations depending on at least one ligno feature, which means that asorting is already made prior to arriving at a final destinationdepending on said at least one ligno feature. This may result in a moreefficient transportation chain to a customer.

In various example embodiments of the present invention it furthercomprising means configured for selecting at least a portion of a lignotrunk to be harvested and/or transported depending on at least onedetected ligno parameter and/or at least one detected growing conditionof said harvested and/or transported portion of a ligno trunk and/or ofa remaining portion of a ligno trunk and/or of at least one ligno grownwithin a predetermined distance from said transported and/or harvestedportion of a ligno trunk.

An advantage of these embodiments is that transportation of at least aportion of a ligno trunk may be faster and more efficient compared toprior art since different kinds of portions of ligno trunk may beselected out of customer needs, profit maximation and/or totalharvesting time.

In another aspect of the present invention it is provided a method forremotely and/or autonomously holding during, before and/or afterharvesting at least a portion of a ligno trunk or holding at least aportion of a ligno trunk during, before and/or after transporting saidat least a portion of a ligno trunk, said method comprising the stepsof:

-   -   a. controlling remotely and/or autonomously at least one        Unmanned Aerial Vehicle, UAV,    -   b. identifying said at least a portion of a ligno trunk to be        held,    -   c. operating at least one means for directly and/or indirectly        holding said at least a portion of a ligno trunk, where said at        least one means for directly and/or indirectly holding said at        least a portion of a ligno trunk is integrated with or        attachable to said at least one UAV,    -   d. detecting at least one ligno parameter of said at least a        portion of a ligno trunk and/or at least one growing condition        of said at least a portion of a ligno trunk and/or detecting at        least one ligno parameter and/or at least one growing condition        of at least one ligno grown within a predetermined distance from        said at least a portion of a ligno trunk and/or detecting at        least one ligno parameter and/or at least a growing condition of        a another portion of a ligno from which said ligno trunk        originates, wherein a directly or indirectly holding position of        said at least a portion of a ligno trunk is depending on at        least one ligno parameter of said at least a portion of a ligno        trunk and/or at least one growing condition of said at least a        portion of a ligno trunk and/or detecting at least one ligno        parameter and/or at least one growing condition of at least one        ligno grown within a predetermined distance from said at least a        portion of a ligno trunk and/or detecting at least one ligno        parameter and/or at least a growing condition of a another        portion of a ligno from which said ligno trunk originates,        wherein said means for holding is attached to said at least one        UAV at least once when holding during transporting and/or        harvesting said ligno trunk.

In various example embodiments of the present invention furthercomprising the step of selecting a cutting position of a trunk of saidat least a portion of a harvested ligno trunk, at least a portion of aligno trunk to be harvested, at least a portion of a ligno trunk duringharvesting or at least a portion of a ligno trunk during transportingdepending on at least one detected ligno parameter and/or at least onedetected growing condition of said harvested portion of a ligno trunkand/or of a remaining portion of a ligno trunk and/or of at least oneligno grown within a predetermined distance from said harvested portionof a ligno and/or at least one ligno at a final destination for saidharvested and/or transported ligno.

In various example embodiments of the present invention furthercomprising the step of transporting said at least a portion of a lignotrunk, by said UAV, away from the original location of said at least aportion of a ligno trunk to a final destination a certain point in time,where said final destination and/or said certain point in time isdepending on said at least one detected ligno parameter and/or said atleast one detected growing condition of said at least a portion of aligno trunk and/or of a remaining portion of a ligno trunk and/or of atleast one ligno grown within a predetermined distance from said at leasta portion of a ligno trunk and/or at least one ligno at a finaldestination for said harvested and/or transported ligno.

Further advantages with and features of the invention will be apparentfrom the following detailed description of preferred embodiments.

BRIEF DESCRIPTION OF THE DRAWINGS

A more complete understanding of the abovementioned and other featuresand advantages of the present invention will be apparent from thefollowing detailed description of preferred embodiments in conjunctionwith the appended drawings, wherein:

FIG. 1-5, 7-12 depict schematic pictures of different inventive remoteand/or autonomous harvesting steps by using a system according to thepresent invention,

FIG. 6 depicts an example embodiment of a unit comprising a remotelyand/or autonomously controlled means configured for harvesting at leasta portion of a ligno and at least one means for gripping/holding saidligno trunk and

FIG. 13-41 depict schematic pictures of various means for holdingdirectly and/or indirectly at least a portion of a ligno trunk.

DETAILED DESCRIPTION OF PREFERRED EMBODIMENTS OF THE INVENTION

The word ligno used hereinabove and hereinbelow is a generic term forany tree(s) and/or any bush(es).

The word harvesting used hereinabove and hereinbelow is a generic termfor removing at least a portion from a ligno, i.e., cutting a portion ofthe ligno, cutting the full ligno and/or removing the ligno with atleast a portion of its roots from the ground.

FIG. 1-5, 7-12 depict schematic pictures of different inventive remoteand/or autonomous harvesting and/or transporting steps of at least aportion of a ligno by using an example embodiment of a system 10according to the present invention. Said system may comprise a remotelyand/or autonomously controlled means configured for harvesting and/ortransporting at least a portion of a ligno 110, a remotely and/orautonomously controlled Unmanned Aerial Vehicle 100, UAV, comprising, atleast one means for holding 105 said ligno trunk and being configuredfor transporting said harvested portion of said ligno to anotherlocation, wherein said system comprising at least one means fordetecting said ligno to be harvested and/or transported, and a basestation 120 for controlling said means configured for harvesting and/ortransporting at least a portion of a ligno and said UAV. Said systemfurther comprising means for detecting at least one ligno parameter ofat least a portion of a ligno and/or at least one growing condition ofat least a portion of a ligno. Said system further comprising meansconfigured for selecting least a portion of a ligno to be harvestedand/or transported depending on at least one detected ligno parameterand/or at least one detected growing condition of saidtransported/harvested portion of a ligno and/or a remaining portion of aligno and/or of at least one ligno grown within a predetermined distancefrom said transported portion of a ligno.

In FIG. 1 said UAV 100 is carrying said remotely and/or autonomouslycontrolled means configured for harvesting at least a portion of a ligno110 on its way to harvest a at least a portion of a ligno 135 a, 135,b,135 c, 135 d in a forest 130. The UAV is remotely controlled by saidbase station 120 and/or autonomously controlled and optionallycommunicating with base station 120. The base station 120 may be astationary unit or a mobile unit.

In FIG. 1-4, 7, 9, 10 the UAV 100 can be considered as a forestryforwarder and said means configured for harvesting at least a portion ofa ligno 110 can be considered to be a forestry harvester.

In an autonomously controlled means configured for harvesting at least aportion of a ligno said means is able to operate without beingcontrolled directly by humans whereas in a remotely controlled meansconfigured for harvesting at least a portion of a ligno said means isable to be operated from a remote distance controlled directly byhumans. In various example embodiment said means configured forharvesting at least a portion of a ligno and said UAV are remotelycontrolled. In various example embodiment said means configured forharvesting at least a portion of a ligno and said UAV are autonomouslycontrolled. In various example embodiments said means configured forharvesting at least a portion of a ligno is remotely controlled and saidUAV is autonomously controlled. In various example embodiments saidmeans configured for harvesting at least a portion of a ligno isautonomously controlled and said UAV is remotely controlled.

Said means for detecting a ligno may be at least one of a camera or anoptical sensor. The camera may be at least one of for example anIR-camera (Infrared-camera), NIR-camera (Near Infrared-camera), aVISNIR-camera (Visual Near Infrared-camera), a CCD camera (ChargedCoupled Device-camera), a CMOS-camera (Complementary Metal OxideSemiconductor-camera), a digital camera, a 3D camera e.g., stereocamera, time-of-flight camera or LiDAR. The optical sensor may at leastone of a photodetector, pyrometer, proximity detector and/or an infraredsensor.

Said means for detecting a ligno may be arranged on said UAV and/or saidmeans configured for harvesting at least a portion of a ligno.

Said means for detecting at least one of the group of ligno parametersmay be the same means as being used for detecting a ligno and/or anadditional means. The additional means may be at least one of a cameraor an optical sensor. The camera may be at least one of for example anIR-camera (Infrared-camera), NIR-camera (Near Infrared-camera), aVISNIR-camera (Visual Near Infrared-camera), a CCD camera (ChargedCoupled Device-camera), a CMOS-camera (Complementary Metal OxideSemiconductor-camera), a digital camera, a 3D camera e.g., stereocamera, time-of-flight camera or LiDAR, a spectral camera, a heatsensitive camera, an ultrasonic measurement device, a radar device, avibration device. The optical sensor may be at least one of aphotodetector, pyrometer, proximity detector and/or an infrared sensor.A 3D picture may see through foliage and/or branches. A mean value ofmultiple 3D images may result in mm precision images. 3D pictures mayreveal lots of information about branches, ligno trunk and/or lignospecies. 3D images may be taken from an air born vehicle such as an UAV.The spectral camera may be used for measuring vegetation index (NDVI),i.e., a measure of the photosynthesis in a particular area. Heatsensitive cameras may be used for measuring the temperature of thesurface of the ligno trunk which in turn may be a measure of the healthof the ligno, an insect infestation ligno has a higher surfacetemperature than a non-infested ligno. Ultrasonic measurement and/orradar may be used for determining the inner form of the ligno, i.e.,rotten or hollow inner structure and/or the inner moisture content ofthe ligno. Computer tomography and/or magnetic resonance imaging cangive information about a portion of a ligno down to a ligno cell level.

Said means for detecting at least one of the group of ligno parametersmay be a camera or optical sensor in combination with ArtificialIntelligence AI. AI may be used for training a model for recognizing oneor a plurality of said ligno parameters. Ligno parameters may berecognized visually and/or by measurement and/or by at least on physicalsample. Measurement may be made by optical inspection at a distance fromthe ligno and/or by physical measurement, for instance integrated insaid means for gripping/holding 105 said ligno trunk. Said means fordetecting at least one ligno parameter may be a laser scanner attachedto said UAV and/or said means for holding said ligno trunk and/or saidmeans for harvesting said at least a portion of a ligno. By laserscanning the ligno trunk the ligno species may be determined and othersurface conditions of the ligno trunk such as the presence of any mossand/or any damage. Detected ligno parameters may be compared with storedligno parameters in a data base for categorization and/or future choiceand/or prioritization.

The final destination of said at least a portion of the ligno may bedetermined by at least one of said detected ligno parameters and/or atleast one detected growing condition. Ligno parameter can be consideredto be intrinsic features and growing condition can be considered to beextrinsic features.

Ligno parameters may for instance be a diameter of said at least aportion of a ligno (top diameter, base diameter, mean diameter, mediandiameter), length of said at least a portion of a ligno, ligno speciesof said at least a portion of a ligno and/or the weight of said at leasta portion of a ligno, dry content, age of ligno, number of annual rings,distance between annual rings, color of annual rings, width of annualrings, amount of leaves, amount of fir needle, color, chemicalcomposition of the ligno, twig-free, deformation(s), cracks (dry cracks(partial or all trough), end crack, ring crack), rootstock, density,rot, discolored, dead ligno, insect infested, microorganism infested,weather damage (storm, wind, fire, drought), machine damage (root, lignotrunk), amount of fruits, seeds, berries, nuts, cones, flowers on theligno, form of root, root structure, root depth, root volume etc. Thecolor of the ligno may be an indicator of ligno species. The color maybe the color of the outer surface of the ligno trunk or the color of acut area. The form of the ligno may be determined by a 3D camera. Formmay comprise total volume of ligno, leaves or fir needles, deformations,shape deviations etc. Ligno parameters may also comprise materialproperties of the ligno such as moisture content (%), tensile strength(MPa), flexural strength (MPa), compressive strength (MPa), shearstrength (MPa), impact strength (KJ/m²), hardness (Brinell, Vickers,Rockwell), elasticity module (MPa), thermal conductivity (W/m° C.), heatcapacity (J/kg° C.), Calorific value (MJ/kg), etc.

In various example embodiments said ligno parameters may be detectedmanually by human or remote and/or autonomous by a separate unit priorto harvesting. Ligno parameters may be stored digitally together withGPS position. In various example embodiments a digital marker may bearranged physically on ligno prior to cutting the ligno or when theligno is laying on ground. The digital marker may have storedinformation about at least one ligno parameter. The input of lignoparameters may be made manually prior to harvesting. The digital markermay be configured to communicate with said UAV. The communication may beperformed by Bluetooth, wifi, radio communication and/ortelecommunication (3G, 4G, 5G). A physical sample for detecting lignoparameters such as density, rot and/or dry content may be made manuallyprior to harvesting and/or automatically by a sample detection meansadded to the means for holding the ligno trunk and/or the meansconfigured for harvesting at least a portion of a ligno. Such sampledetection means may be a suitable tool for removing a predeterminedamount of the ligno to be analysed. The removal of said predeterminedamount to be analysed may be made by drilling, sawing or cutting. Theanalyzation of said predetermined amount of the ligno may be made whilethe UAV is at or near the ligno or said predetermined amount of lignomay be brought to an analyzation station at a distance from the ligno. Aselection of where to remove said predetermined amount of the ligno maybe made by using said camera. Suspected rotten or insect infested areamay be detected by the camera and thereafter a sample of such area maybe removed and analyzed. Different portions of a single ligno anddifferent ligno may be catagorized differently depending on the outcomeof the analysis, i.e., depending on the ligno parameters a specificportion of a ligno may fall into one or a plurality of differentcategories. If a specific portion of a ligno may fall in a plurality ofdifferent categories a selection may be based on the value or thecurrent demand in the market.

Growing conditions may for instance be #ligno per unit area and/orgrowth potential.

Growing condition may also be biotic environmental factors (interactionof organism of the same species and/or interaction of organisms of otherspecies) such as mount of dead ligno/wood within a predetermined area,interaction and/or competition of other species, gas and fragrance fromplants, temperature of other plants etc. Fungal infestation and insectinfestation may be spread over a large area. It may be advantageous toharvest non infested ligno within a predetermined time after havingdetected an infested ligno in a predetermined area. Fungal and insectsmay spread over several km. Competition for water, nutrition, and sunhours may be within a distance of 0-50 m. Advantageousinteraction/competition situation may be made through sorting out plantsin predetermined positions in order to get optimal conditions for theremaining ones.

Growing conditions may also be abiotic environmental factors climate(temperature, precipitation etc), topography, ground temperature,geology, hydrology, vegetation, soil, earth deposit, soil depth, surfaceblockage, minerals, ground carbon contents, ground nitrogen content,ground carbon nitrogen ratio, PH value, bas kat ions, amount of traceelements, physical or chemical erosion, environmental condition, windetc. Abiotic environmental factors may also be the type of land such asforest land, arable land, agricultural land, natural pasture, mountainimpediment, protected area, power line area, military area, built upland etc.

At least one ligno parameter and/or growing condition may be used as afactor for determining the usage, demand, storage, quality of the atleast a portion of ligno. This in turn may be used for determining thefinal destination of a particular portion of a ligno.

Gas sensors may be used to detect water quality (carbon oxide content,methane content, oxygen content etc.).

The UAV may have one or a plurality of propellers. In FIG. 1-4 said UAVis exemplified to have 6 propellers arranged symmetrically around anorigin.

The base station 120 may, when remotely controlled, be operated by atleast one human being, whereas, when autonomously controlled, be a basestation 120 with programmed software algorithms used for supporting theautonomous UAV and/or the means configured for harvesting at least aportion of a ligno. The base station 120 may be a stationary unit or amobile unit.

Said means for holding the said ligno 105 may be at least one movablegripping arm. In various example embodiments said means for holding saidligno 105 may be one or a plurality of metal bars which may at leastpartially penetrate a ligno trunk. In various example embodiments saidmeans for holding said ligno 105 may be a unit surrounding said lignotrunk and being able to change its holding area and thereby compressaround the ligno trunk for securing purpose and decompress for releasinga ligno trunk or entering a ligno to be harvested. Said means forholding said ligno 105 may comprise said sample detection means.

In various example embodiments said means configured for harvesting atleast a portion of the ligno may be arranged with means for attachingitself to said ligno trunk. In various example embodiments said meansconfigured for harvesting at least a portion of a ligno is alsoconfigured for moving up and down along the trunk of the ligno. Themovement may be performed by at least one electrically driven wheeltravelling on said ligno trunk. In various example embodiments at leastone wheel may be electrically driven for enabling movement up and downsaid ligno trunk and at least one other wheel is arranged for frictionreduction during said movement. In various example embodiments at leastto wheels are configured to attach, secure and move said meansconfigured to harvesting at least a portion of a ligno.

In various example embodiments said means configured for harvesting atleast a portion of the ligno is also configured for moving on ground.The movement can be made via a plurality of wheels or legs and/or as atracked vehicle.

Said UAV 100 and said means configured for harvesting at least a portionof the ligno may be communicating with each other via one or more ofWiFi, Bluetooth, radio communication, telecommunication (3G, 4G, 5G),optical fibre and/or electrical wire. In various example embodimentssaid control unit and said UAV and/or said means configured forharvesting at least a portion of the ligno may be communicating witheach other via one or more of WiFi, Bluetooth, radio communication,telecommunication (3G, 4G, 5G). Depending on the distance and/orcommunication quality between the control unit and said UAV and/or saidmeans configured for harvesting at least a portion of a ligno thecommunication may change from one type of communication to another.

In various example embodiments said means configured for harvesting atleast a portion of the ligno is connectable to an underside of said UAV100. In various example embodiments said means configured for harvestingat least a portion of the ligno may be released from said UAV directlyonto a ligno to be harvested or on the ground at or near the ligno to beharvested. In various example embodiments said means configured forharvesting at least a portion of the ligno may be provided at a distancefrom said ligno to be harvested from a land vehicle. The meansconfigured for harvesting at least a portion of the ligno may of its ownmotion move from the position on ground to the desired ligno to beharvested. Communication between said UAV and said means configured forharvesting at least a portion of a ligno may at any desired time resultis a pick-up of said means configured for harvesting at least a portionof a ligno by said UAV. The pickup of said means configured forharvesting at least a portion of a ligno by said UAV 100 may be made onground if there is enough space or on a trunk of a ligno.

In various example embodiments the UAV 100 may comprise a power unit forpowering said UAV 100 and said means configured for harvesting at leasta portion of said ligno 110. The power from said power unit in said UAV100 may be delivered to said means configured for harvesting at least aportion of a ligno 110 via at least one power cable. The power unit maybe an electric motor and/or an internal combustion engine.

In various example embodiments said UAV 100 may comprising at least afirst power unit for powering said UAV 100 and said means configured forharvesting at least a portion of a ligno 110 may comprise at least asecond power unit for powering said means configured for harvesting atleast a portion of a ligno 110. The power unit in said UAV 100 may beelectrical and/or an internal combustion engine. The power unit in saidmeans configured for harvesting at least a portion of a ligno 110 may beelectrical and/or an internal combustion engine.

In various example embodiments said means configured for harvesting atleast a portion of a ligno 110 is also configured for delimbing a ligno.The delimbing may be performed from top to bottom if said meansconfigured for harvesting at least a portion of the ligno is initiallyarranged on said ligno to be harvested from above. In various exampleembodiments said delimbing may be performed from bottom to the top ifsaid means configured for harvesting at least a portion of a ligno ismoved by its own motion from ground to the ligno to be harvested orattached to a lower section of the ligno to be harvested from the UAV.The delimbing may be performed by one or a plurality of cutting means,snapping means, and/or shearing means. The cutting means may be bycutting chains and/or by rotary cutting disks. The cutting may beperformed by a straight movement along said trunk of said meansconfigured for harvesting at least a portion of a ligno and/or by aserpentine movement along the trunk by said means configured forharvesting at least a portion of a ligno.

In various example embodiments said means configured for harvesting atleast a portion of a ligno 110 is configured to be in directcommunication with a remote operator and/or a remote base station 120 orindirect communication via said UAV 100 with a remote operator and/or abase station 120. The indirect communication, i.e., the UAV 100 asaccess point, with said means configured for harvesting at least aportion of a ligno 110 may be used if the same information is to be sentto both UAV 100 and said means configured for harvesting at least aportion of a ligno 110. The UAV 100 may be in various exampleembodiments work independently from a remote base station 120. Theindirect communication may also be used if said UAV 100 is arranged inbetween said base station 120 and said means configured for harvestingat least a portion of a ligno 110.

In various example embodiments said UAV and/or said means configured forharvesting at least a portion of a ligno may comprise means configuredfor automatically locating a ligno and/or a predetermined area to beharvested. Said means configured for automatically locating a lignoand/or said predetermined area to be harvested may comprise at least aGlobal Navigation Satellite System, GNSS. Said means configured forautomatically locating a ligno and/or a predetermined area to beharvested may comprise at least one camera or optical sensor. Said meansconfigured for automatically locating a ligno and/or a predeterminedarea to be harvested may comprise at least a camera in combination withArtificial intelligence or machine learning algorithms for speeding upthe detection of a suitable area to arrange said means configured to cuta ligno trunk.

Now returning to FIG. 1 where the UAV 100 is on its way to a ligno 135in forest 130 to be harvested. The ligno 135 may be preselected, i.e.,selected prior to arrival to the ligno 135. Alternatively said ligno 135may be selected by the UAV 100 in combination with the base station 120once the UAV 100 is at or near a position above said ligno 135. Theselection may be performed by identifying a picture of the ligno 135from above with stored pictures in said control station 120 and by meansof a selection algorithm select a ligno for ligno thinning purpose orother selection criteria.

In FIG. 1 the forest 130 comprises four ligno 135 a, 135 b, 135 c, 135d, all of which may have equal or different ligno parameters and/orgrowing conditions. The forest may of course have a larger or smalleramount of ligno than the depicted 4 as shown in FIG. 1-4 . A ligno to beharvested may be determined by at least one of said detected lignoparameters and/or growing conditions. In various example embodiments theorder of harvesting ligno 135 a, 135 b, 135 c, 135 d may be selected outof minimizing a total harvesting time. In various example embodiments aparticular ligno may be selected because there is a demand of such lignoparameters from a particular customer. In various example embodiments aparticular ligno may be selected to be harvested due to a particularligno thinning strategy, e.g., smallest or largest ligno in a group ofligno, diameter of said at least a portion of a ligno, length of said atleast a portion of a ligno, ligno species of said at least a portion ofa ligno and/or the weight of said at least a portion of a ligno, drycontent, twig-free, rootstock, density, rot, discolored, dead lignoand/or insect infested. Ligno parameters may be detected prior toarriving with the UAV 100 to the forest 130. This may be made manuallyand/or automatically. Manual detection may be made by human beingsregistering at least one ligno parameter in a digital data base.Automatic ligno parameter may be made by a separate UAV and/or aland-based vehicle. Detection may be non-destructive and/or destructive.Non-destructive methods may be made by visual inspection by a humanbeing or by registering the ligno by a suitable optical means such as acamera. Destructive detection may be made by removing a predeterminedamount of a ligno and analyzing it on site or at a remote site. A lignoto be harvested may be selected depending on its distance to the finaldestination, e.g., choosing ligno with a particular set of lignoparameters as close to the final destination as possible. A ligno to beharvested may be selected in order to maximize the value of the totalamount of harvested ligno in a particular time frame. A ligno to beharvested may be selected in order to maximize the value of theremaining ligno in the forest. A decision of how much of a particularligno to be harvested may be made depending on at least one lignoparameter.

In various example embodiments the selection of already harvestedportions laying on ground may be made depending on at least one lignoparameter. In various example embodiments a correct size of UAV may bemade depending on at least one ligno parameter of said at least aportion of ligno laying on the ground. In various example embodiments acorrect choice of number of UAV for transportation may be made dependingon at least one ligno parameter of said at least a portion of lignolaying on the ground.

In various example embodiments the system further comprising meansconfigured for determining a certain point in time said at least aportion of a ligno should be harvested and/or transported. A ligno 135 ahaving a first set of ligno parameters may be selected to be harvestedand/or transported prior to a ligno 135 c having a second set of lignoparameters.

In FIG. 2 the selected ligno 135 has been attached on its top portion byat least one means for gripping 105 said ligno trunk. A grippingposition on said ligno 135 may be selected depending on the expectedlift weight of the harvested portion of said ligno. If the full ligno isto be harvested a greater diameter of said trunk of the ligno is to bechosen as a gripping position compared to if just a portion of the lignois to be harvested.

In FIG. 3 the autonomously controlled means configured for harvesting atleast a portion of a ligno 110 has been moved a distance down from saidat least one means for gripping 105 said ligno trunk. On its way downsaid means configured for harvesting at least a portion of a ligno 110also has delimbed the ligno 135 leaving a bare ligno trunk 137 withouttwigs and limbs. The powering of said means configured for harvesting atleast a portion of a ligno 110 may be provided by said UAV 100 or by apower unit in said means configured for harvesting at least a portion ofa ligno 110. In case of power supplied from said UAV to said meansconfigured for harvesting at least a portion of a ligno 110 said powermay be delivered via one or a plurality of power cables arranged onbetween said UAV 100 and said means configured for harvesting at least aportion of a ligno 110. A power unit in said means for cutting a lignotrunk 110 may be one or a plurality of battery packs. In various exampleembodiments a first battery pack maybe used for communication with theUAV 100 and/or a base station 120. A second battery pack may be used formoving said means for harvesting at least a portion of a ligno 110up/down on a ligno trunk and/or for moving said means for harvesting atleast a portion of said ligno 110 on ground.

Instead of harvesting trees and/or bushes (ligno) by means of cutting atleast a portion of said ligno, said ligno may be removed from groundwith at least a portion of its root system. This removal may be made byusing the UAV as removal means, i.e., gripping a ligno and using theupward traction power of the UAV for removing the ligno from ground.This technique may only be used for small ligno, for instance wheninvasive arts is to be removed from a particular area at an early stagefor not causing damage on the remaining portion of the forest.

In FIG. 4 the ligno 135 has been delimbed, harvested and on its way to alocation away from the original location of the ligno. What is left ofthe original ligno 135 at its original location is a pile of limbs 138and a ligno stump 139. In the depicted example embodiment said meansconfigured for harvesting at least a portion of a ligno 110 is stillarranged on said ligno trunk when the ligno is transported away from theoriginal location of the ligno. In various example embodiments it isprovided means configured for directing said remotely and/autonomouslyUAV 100 with said at least a portion of a ligno to a final destinationwhere said final destination is depending on said detected lignoparameters. In various example embodiments a first type of ligno speciesmay be transported to a first final destination whereas a second type ofligno species may be transported to a second final destination. FIG. 5illustrates 3 different final destinations A, B and C respectively. Thefinal destination may have a first set of ligno parameters, finaldestination B may have a second set of ligno parameters and finaldestination C may have a third set of ligno parameters. Said first,second and third set of ligno parameters may be different. Lignoparameters may for instance be a diameter of said at least a portion ofa ligno, length of said at least a portion of a ligno, ligno species ofsaid at least a portion of a ligno and/or the weight of said at least aportion of a ligno, dry content, twig-free, rootstock, density, rot,discolored, dead ligno, insect infested. At least one of said finaldestinations A, B or C may be an intermediate storage on ground. Atleast one of said final destinations A, B or C may be a mobile storage,for instance a timber truck.

In various example embodiments said final destination A, B or C may asin FIG. 5 be close to each other. In various example embodiments saidfinal destination A, B or C may be remote to each other. In variousexample embodiments more or less final destinations than 3 as depictedin FIG. 5 may be present.

In various example embodiments the final destination A may be for timberhaving a length within a predetermined interval. The final destination Bmay be for timber having a predetermined weight per unit of timber. Thefinal destination C may be for rotten ligno, discolored ligno, deadligno and/or insect infested ligno.

In various example embodiments the final destination A may be allocatedwith timber having a first set of ligno parameters and a requirement tobe filled with timber prior to a final destination B which may have thesame ligno parameters but will be filled with timber later in the lignoharvesting process. It may be that the final destination A is close to aroad or at a timber truck, whereas final destination B may be anintermediate storage closer to the harvesting area compared to finaldestination A and far away from any available road.

In various example embodiments the first final destination A may be fortimber to be used as pulp. The second final destination B may be forbuilding material, such as plank. The third final destination C may befor biomass material.

Depending on the location of said first second and third finaldestination, A, B and C respectively, and the location of the ligno tobe harvested an optimization may be performed prior to harvesting inorder to minimize the time required to harvest and transport a givennumber of ligno in various categories. A forest having numerous ligno,such optimization may result in harvesting a first set of lignoparameters first and a second set of ligno parameters later in time fora first harvesting area whereas in a second harvesting area a third setof ligno parameters, different to said first and second may be chosen tobe harvested first. The optimization may be depending on the density ofligno per unit area, the topography of the nature where the ligno arelocated, the type of ligno present in a predetermined area and/or thepurpose of the harvesting technique, sorting out or completedisforestation.

At least one ligno parameter and/or growing condition may steer thefinal destination. Coordinates for different final destinations may bepre stored in the UAV and/or base station. Different sets of lignoparameter and/or growing condition may be linked to different finaldestinations, i.e., coordinates.

A plurality of portions of ligno may be transported simultaneously by atleast one UAV. The choice of portions of ligno to be transported maydepend on the distance between the portions of ligno and/or the distancebetween the plurality of portions of ligno to be transported and thefinal destination. The choice of portions of ligno to be transported mayalso depend on the total remaining battery power and/or remaining fuelof the UAV(s).

Said means configured for directing said remotely and/autonomously UAVwith said at least a portion of a ligno to a final destination dependingon said detected ligno parameters may also be configured for determininga certain point in time said at least a portion of a ligno should bearrived at said final destination. Not only the destination may bedetermined depending on one or a plurality of ligno parameters, also thecertain point in time a particular at least a portion of a ligno shouldarrive at a predetermined location may depending on one or a pluralityof ligno parameters. In a first example embodiment a particular lignoparameter is to be picked up by a timber truck and transported away daysor weeks from a particular harvesting time. This may be a trigger factorfor either just harvesting the particular ligno and let them lay on theground or simply postpone the actual harvesting said days or weeks untilsaid pickup by timber truck is to take place. In a second exampleembodiment timber at a particular final destination A, B, or C may besorted so that a particular set of ligno parameters arrives first, timeA, at a particular final destination, i.e., furthest down in a pile oftimer. A second set of ligno parameters arrives later, time B and willbe arranged on the middle of the pile of timber. A third set of lignoparameters arrives latest, time C, and will be arranged on a top portionof the pile of timber. Having sorted different sets of ligno parametersat one and the same location may make transport logistics more effectivein picking up the correct type of timber.

The predetermined distance of at least one ligno grown from saidtransported portion of a ligno may depend on topography and/or invasivespecies. An insect infested and/or fungal infested tree in apredetermined area may result in harvesting relatively far away from theinfested tree, i.e., a large predetermined distance up to severalhundred of meters, whereas in a healthy environment said predetermineddistance may be less than 50 meters and in some cases may be less than20 meters. The predetermined distance from said at least a portion of aligno may be at least one final destination of said at least a portionof a ligno. The holding position of said ligno trunk to be transportedmay be chosen with respect to how ligno trunks are stored at said finaldestination. A final destination may be chosen during transportingand/or harvesting. A final destination may be determined before a lignotrunk is harvested. A final destination may be shosen depending on atleast one ligno parameter and/or growing condition. The system may beconfigured to detect at least one final destination by use of a camera,map and/or data base with information of the forest. The finaldestination may be chosen with respect to the particular characteristicsof the ligno trunk to be transported, the power capacity of the UAV, theterrain and/or actual position of timber trucks.

The system may further comprising means for determining the number ofUAV to be used together for transporting at least one portion of a lignodepending on said at least one ligno parameter and/or the distancebetween an original location of said at least a portion of a ligno toand said final destination. Long and/or heavy portions of ligno and/or atransport of a plurality of portions of ligno may require more than oneUAV for transporting said portion of the ligno(s) from its originallocation to its final destination. At least one ligno parameters may beused to allocate the correct number of UAV to be used in synchronism fortransporting said portions of ligno(s). The plurality of UAV may eitherattach to the portion of ligno to be transported or attach to anotherUAV for synchronously transporting said portion of ligno away from itsoriginal location to its final destination. The attachment of one UAV toanother UAV may be made directly via a connection arrangement or via awire or bar in between said two UAV. A plurality of UAV may also benecessary if the distance between the original location and the finaldestination is very long. If the distance between the original locationand the final destination is long, an intermediate storage location inbetween said original location and the final destination may benecessary for later pick up and transport to the final destination. Byusing a plurality of UAV in synchronism may be advantageous sincesmaller UAVs may be used which is easier to handle and easier to use ina dense forest. Synchronization of a plurality of UAV for workingtogether in transporting at least a portion of a ligno may be madethrough a base station and/or a master UAV. When it is determined thatmore than one UAV is needed, one of said UAV may be assigned a masterrole and the other UAV a servant role. The master role may be assignedto the UAV first approaching the portion of ligno to be transported orto a specific type of UAV. Alternatively, the plurality of UAV may beattached together for transport and the base station assigned one ofthem as a master and the other as servant UAV. Each and every UAV maycommunicate with each other and to the base station. In yet analternative embodiment the base station is the synchronization unit,i.e., all UAV are assigned as servant UAV and follow one and the sameinstructions sent out from said base station.

In various example embodiments single UAV transportation may beprioritized before plurality of UAV transportation. This may be the casein an early stage of harvesting when the forest is still dense and thereare lots of UAV available.

In various example embodiments transportation is based on total liftcapacity of the UAV(s). A transportation optimization may in such casebe based on the order the ligno should be picked up in order to minimizethe clearing of a particular area. In various example embodiments onlyligno having a predetermined ligno parameter should be prioritizedbefore all other ligno parameters and/or growing conditions.

In various example embodiments a particular type of UAV, size and/orcapacity may be used depending on at least on ligno parameter. Invarious example embodiments ligno parameters sent to said base stationmay allocate a particular type of UAV out of a UAV fleet which may makethe transportation as effective as possible.

Ligno parameters may be detected by non-destructive evaluation, such ascamera or optical sensors. Ligno parameters may also be detected byremoving physical sample from the ligno and analyzing said sample. Theremoval may be in form of cutting drilling or sawing and predeterminedamount of the ligno at a predetermined position. The analyzing may takeplace directly in the UAV or means attached to said UAV. Alternativelysaid analyzing may be made at a remote location from the ligno. Lignoparameter(s) may be detected by means attached to the same UAV which isused for transporting/harvesting the portion of ligno and/or by a humanbeing prior to harvesting/transportation and/or by a land based remotelyand/or autonomously controlled Unmanned Vehicle (100) and/or by meansattached to a separate UAV only used for detecting tree parametersand/or growing conditions. In various example embodiments detection ofligno parameters and/or growing conditions may be made simultaneouslyand by separate means (UAV, human being, remotely and/or autonomouslycontrolled Unmanned Vehicle) as harvesting and/or transportation in aparticular area.

Instead of as in FIG. 4 delimbing and cutting the full ligno, said lignomay be harvested in sections starting from above and going down thetrunk of the ligno. When a section of the ligno has been harvested, saidmeans configured for harvesting at least a portion of a ligno 110 may beleft on the still uncut portion, the stump, of the ligno while the UAVis transporting away the harvested portion from the original location ofthe ligno. A cutting position on a ligno trunk may be determined beforearriving with means for cutting to a particular ligno, i.e., It may havebeen detected by a human or information may be taken from data storage.The cutting position may be determined during harvesting and/ortransporting. In such case the determining of a cutting position may bemade by means of at least one camera attached to the UAV. The cuttingposition may also be determined by a previous cutting position, i.e.,when a ligno is first cut for producing a first harvested ligno trunkthe second cut on said remaining ligno may be determined with respect tosaid first cut for producing a ligno trunk with a predetermined length.The remaining ligno may be a transported ligno, un unharvested ligno ora ligno laying on ground. A cutting position may also be selected to bewithin a predetermined interval of the ligno trunk. Said means forcutting a ligno may also be capable of debarking and/or delimbing aligno trunk.

Delimbing means may be arranged on a top portion and on a bottom portionof said means configured for harvesting at least a portion of a ligno110. By arranging said delimbing means on both sides of said meansconfigured for harvesting at least a portion of a ligno 110 makes itpossible to provide said means configured for harvesting at least aportion of a ligno 110 from above on the ligno or from root of saidligno. The delimbing means is provided at the front position withrespect of the direction of movement of said means configured forharvesting at least a portion of a ligno 110.

In various example embodiments said means configured for harvesting atleast a portion of a ligno 110 may be provided by said UAV directly on aportion of the ligno to be harvested where there are no limbs.

In various example embodiments said means configured for harvesting atleast a portion of a ligno 110 may be dropped on the ground at or nearthe ligno to be harvested.

In FIG. 6 it is depicted a schematic picture of an example embodiment ofsaid means configured for harvesting at least a portion of a ligno 110and said means for holding said ligno 105. Said holding means 105 may beprovided at a distance from said UAV 100, for instance via one or aplurality of wires 111 a. The holding means 105 is in this exampleembodiment in the form of a first movable curved arm 107 a and a secondmovable curved arm 107 b. Said arms (107 a, 107 b) can be set to anyposition between a fully open position and fully closed position inorder to allow to embrace a ligno trunk and also to grip and release thesame. Said means configured for harvesting at least a portion of a ligno110 comprises in FIG. 6 a first movable curved fixing/delimbing arm 114a and a second movable curved fixing/delimbing arm 114 b. Said first andsecond movable curved fixing/delimbing arms (114 a, 114 b) may be set toany position between a fully open position and fully closed position onorder to allow to embrace a ligno trunk and also to fixing the same.Said fixing/delimbing arms may have a sharp edge on its top portionand/or its bottom portion for delimbing the ligno as the meansconfigured for harvesting at least a portion of the ligno moves alongthe trunk of said ligno. Said means configured for harvesting at least aportion of a ligno 110 also comprises a cutter 116. The cutter may be inthe form of an electrically driven or internal combustion engine drivenchain saw. The chain saw may be arranged movable in said means 110 inorder to cut a ligno while said means is in a fixed position on saidtrunk of the ligno.

The delimbing means 114 a, 114 b may be optional. The holding means 105may be provided at a distance from said means configured for harvestingat least a portion of a ligno 110. Said holding means 105 may beattached at said means configured for harvesting at least a portion of aligno 110 with at least one wire 111 b or at least one metal bar orother suitable attaching means. In various example embodiments saidholding means 105 may be mechanically separable from said meansconfigured for harvesting at least a portion of a ligno 110 meaning thatthe holding means may attached at a fixed position at the ligno whilethe means configured for harvesting at least a portion of the ligno mayof its own motion move along the trunk of the ligno with no mechanicalattachment to the holding means 105. The means for harvesting at least aportion of a ligno may cut a portion of a ligno and stay on the stillnot harvested portion of the ligno while said UAV is moving away withthe harvested portion to another location. Delimbing may take place bysaid means configured for harvesting at least a portion of a ligno 110while said UAV is moving away said harvested portion of the ligno. TheUAV may return to the same ligno and remove yet another portion of itand said means configured for harvesting may stay on the not yetharvested portion or attach to the harvested portion or the UAV and movetogether with the UAV to another location. The holding means 105 and themeans configured for harvesting at least a portion of a ligno 110 maycommunicate with each other and/or independently of each othercommunicate with the UAV and/or the base station 120. A camera may beused, attached either on said UAV or said may be used for meansconfigured for harvesting at least a portion of a ligno 110, in order tosimplify attachment of said UAV with said means configured forharvesting at least a portion of a ligno 110. The attachment of said UAVand said means configured for harvesting at least a portion of a ligno110 may be a fully automatic process. Said means configured forharvesting at least a portion of a ligno 110 may have at least oneelectrically driven wheel 190 for allowing movement of said meansconfigured for harvesting at least a portion of a ligno 110 along atrunk of a ligno. One or a plurality of supporting wheels 112 may beused for securing said means configured for harvesting at least aportion of a ligno 110 onto said trunk of said ligno and for reducefriction while moving along said trunk of said ligno. Said supportingwheel(s) may be arranged on arms 188 which may be movable in order tosecure said means configured for harvesting at least a portion of aligno 110 on said trunk of said ligno.

In various example embodiments said means configured for harvesting atleast a portion of a ligno 110 may be made of two separable parts, afirst part that is mainly configured for holding the ligno and a secondpart, capable of moving up and down along the trunk of the ligno, whichcan delimb and/or cut the ligno.

Said means for holding 105 may change its position onto said ligno trunkduring cutting, delimbing, harvesting, transporting and/or debarkingsaid ligno trunk.

A selection of lignos to be harvested may be made by harvesting alllignos within a predetermined area, every second ligno within apredetermined area, lignos of a particular type, lignos having aspecific age, lignos having a specific length and/or lignos with apredetermined growing condition or similar.

In various example embodiments said means configured for harvesting atleast a portion of a ligno 110 may be provided at or near the ligno tobe harvested either by the UAV or by a land vehicle. Said meansconfigured for harvesting at least a portion of a ligno 110 may of itsown motion move towards a predetermined ligno to be harvested andarrange itself at a predetermined position on the trunk. An UAV may,before said ligno is cut, be arranged at a top position of said lignoand grip the trunk of the ligno on a position safe to lift the portionto be cut. Said means configured for harvesting at least a portion of aligno 110 cuts the ligno and the UAV moves the harvested ligno away fromthe original location of the ligno. The harvested ligno has all of itslimbs left on the ligno. Said means configured for harvesting at least aportion of a ligno 110 may follow the harvested ligno from the originallocation of the ligno or stay at the ligno stump.

In various example embodiments said means configured for harvesting atleast a portion of a ligno 110 may be provided at or near the ligno tobe harvested either by the UAV or by a land vehicle. Said meansconfigured for harvesting at least a portion of a ligno 110 may of itsown motion move towards a predetermined ligno to be harvested andarrange itself at a predetermined position on the trunk. An UAV may,before said ligno is cut, be arranged at a top position of said lignoand hold/grip the trunk of the ligno on a position safe to lift theportion to be cut. Said means configured for harvesting at least aportion of a ligno 110 first moves upwards the trunk of the ligno inorder to delimb the same. Thereafter said means configured forharvesting at least a portion of a ligno 110 moves to a predeterminedposition and cuts the ligno. The UAV moves the harvested ligno from theoriginal location of the ligno. The harvested ligno is delimbed. Saidmeans configured for harvesting at least a portion of a ligno 110 mayfollow the harvested ligno from the original location of the ligno orstay at the ligno stump.

The system may comprise a plurality of UAV and a plurality of meansconfigured for harvesting at least a portion of a ligno all of which maywork together for efficiently harvesting ligno in a forest.

A plurality of UAV may work together synchronously for transporting aharvested portion of a ligno or a plurality of harvested ligno. This maybe arranged so that a first UAV is a master UAV and at least a secondUAV is a slave UAV. The master UAV may grip the ligno to be harvested ata predetermined position on its trunk. Said at least one slave UAV maybe attached to said master UAV via wires. Said at least one slave UAVmay be arranged at an elevated position with respect to the master UAV.A synchronisation unit makes sure the master UAV and the at least oneslave UAV works in synchronisation with respect to movement and distanceto each other. The synchronisation unit may be arranged in the masterUAV or arranged in the control unit controlling said master UAV and saidat least one slave UAV.

Instead of a single UAV gripping said portion of the ligno to harvest aplurality of UAVs may grip the same ligno to be harvested.

In various example embodiments of the present invention said UAV isdesigned to be capable of flying as to control position, velocity,orientation and rotational speed and via a rigid connection impart itsmotion to the means for cutting/delimbing said ligno. In this embodimentthe UAV controls the movement of the means for cutting/delimbing saidligno.

In various example embodiments of the present invention the UAV may beused to reduce load on said cutting means 116 during cutting. This maybe performed by first holding a predetermined portion of the ligno bysaid holding means 105 and thereafter apply a lift force by said UAVwhile cutting the ligno by the means for harvesting at least a portionof the ligno 110. This may be advantageous since a reduced load on thecutting means 116 from the weight of the ligno may increase theefficiency of the cutting procedure and/or require less power comparedto cutting a ligno with the full load onto said cutting means 116.

In various example embodiments a separate land vehicle may be used withmeans for harvesting at least a portion of said ligno while the UAV islifting the ligno. This may be advantageous since there is no load onthe cutting means from the weight of the ligno which may increase theefficiency of the cutting procedure and/or require less power comparedto cutting a ligno with the full load of the portion to be cut on saidcutting means.

FIG. 7 depicts an UAV 100 with means for harvesting 110 or cutting atleast a portion of a ligno. In FIG. 7 a ligno 135 m is only cut withmeans for cutting 116. In various example embodiments the cut ligno maybe with or without delimbing. The decision which ligno to cut may dependon several factors. It may depend on ligno parameters and/or growingconditions for ligno 135 k and/or 135 l. Those ligno may have a specificquality which may have been detected by ligno parameters and/or growingcondition, which specific quality one wants to improve. The improvementmay be achieved by cutting ligno 135 m with means for cutting 116. Withligno 135 removed the economical growth value and/or growth potential ofligno 135 k and/or 135 l may be increased. Ligno 135 k and/or 135 l mayhave an increased growth potential after ligno 135 m has been removedjust because ligno 135 m was too close to ligno 135 k and/or 135 l.

In another example embodiment ligno 135 m is cut because ligno 135 m hasat least one ligno parameter and/or growing condition which may beinferior, for instance ligno 135 may be storm damaged and is cut forfertilizing and/or give more sunlight, water and nutrition to theremaining lignos 135 k and/or 135 l. In the depicted example embodimentin FIG. 7 the ligno is cut without being taken care of. It may beeconomically advantageous to fertilize remining trees with trees of lowvalue. Cutting trees without taking care of them may also depend onnature conservation goals or to fulfil environmental certification wheresome trees must be left on ground for favouring other living species.

FIG. 8 depicts tree ligno, whereof one 135 n is not harvested while theother two has been cut down and cut in portions. The three ligno mayhave different ligno parameters and/or growing conditions, which mayhave determined which of the ligno to be cut down and how the ligno iscut in portions. Ligno 135 o, 135 p, 135 q and remaining ligno 135 r areportions of a first harvested ligno. Ligno 135 s, 135 t, 135 u andremaining ligno 135 v are portions of a second harvested ligno. Thedifferent portions of said first and second harvested ligno may havedifferent ligno parameters, i.e., different portions of a single lignomay have varying ligno parameters. Said first and second harvested lignomay have been harvested by a UAV and/or by a land going harvestingequipment. If said first and second harvested ligno has been harvestedby an UAV, it may be advantageous to leave said first and secondharvested ligno on the ground as an intermediate storage location forlater transportation to another location when it is more logisticallyadvantageous. The reason for not transporting away a ligno from itsoriginal location immediately after having cut it down may depend onlimited storage capacity at a nearby forest road. Harvesting can eitherbe made with UAV and/or land based harvesting machines. Ligno parametersmay be detected during harvesting by means attached to the UAV and/orthe land based harvesting machine. For instance, when ligno 135 p isharvested it may give indirect information about weight and other lignoparameters of ligno 135 o and/or ligno 135 q. Ligno parameters of forinstance a top scrap portion of a ligno may determine if the remainingportion of the ligno should be transported when harvested or be cut andstored at its original location for transportation at later point intime. Annual rings in 135 r may be detected with a camera and giveinformation about ligno parameters for the other portions 135 o, 135 p,135 q.

In various example embodiments ligno parameters and/or growing conditionfor ligno 135 n may give indication of the quality of ligno 135 o, 135p, 135 q, 135 s, 135 t, 135 u. Ligno parameters and/or growing conditionfrom ligno 135 n may determine the priority of harvesting and/or theorder of transportation and/or the final destination for ligno 135 o,135 p, 135 q, 135 s, 135 t, 135 u.

In various example embodiments information about ligno parameter and/orgrowing condition for ligno 135 o, 135 p, 135 q, 135 s, 135 t, 135 u maybe stored digitally during harvesting. Such digitally stored informationmay not be visible on the harvested portions 135 o, 135 p, 135 q, 135 s,135 t, 135 u, but may be stored together with coordinates in threedimensions. The digitally stored information may determine which qualitythe different portion may have and when, in time, said different portionshall be transported. In various example embodiments harvesting andtransportation may be made at different times due to ground condition,wet, snow etc or other temporary weather conditions.

Information about ligno parameters and/or growing condition which isdetected during harvesting may be performed by a land-based machineand/or a UAV, may be used for determining the number of UAV needed forlifting the ligno portions 135 o, 135 p, 135 q, 135 s, 135 t, 135 u.

FIG. 9 depicts transportation of ligno with at least one UAV todifferent storage locations 201 a, 201 b. Storage location 201 a has afirst ligno quality (first set of ligno parameters and/or growingconditions) and storage location 201 b has a second ligno quality(second set of ligno parameters and/or growing conditions). A weight ofa specific portion of a tree may be estimated based on information abouta ligno average diameter length and volume.

The UAV 100 a may have harvested ligno in pile 135 i at location 201 a.Ligno in pile 135 i at location 201 b may have lower weight than lignoin pile 135 w. Ligo in pile 135 w may require two UAV, 110 b, 110 c, fortransportation of each individual ligno due to its weight.

The UAV 100 b has a first means 105 for holding the ligno 135 j and saidUAV 100 c has a second means 105 for holding the same ligno 135 j. Asindicated in FIG. 9 , attachment point for holding means 105 for UAV 100b is different than attachment point for holding means 105 for UAV 100c. Based on ligno parameters and/or growing condition a location forstorage of different portions of ligno is determined. Different numberof UAV may be necessary for lifting different ligno depending on lignoweight, max lifting capacity for UAV may determine the number of UAVnecessary for transportation.

Two or more UAV 100 b, 100 c may, as depicted in FIG. 10 , use a commonmeans for holding 105 the ligno 135 x and transporting said ligno 135 xin synchronism to a final destination. Using a common means for holdingthe ligno may increase the load capacity.

FIG. 11 depicts ligno of different quality stored at a commondestination. Ligno 135 e and ligno 135 f have different lignoparameters, in this case diameter, volume and weight is different,meaning that ligno 135 e has a lower value than ligno 135 f. In FIG. 11ligno 135 e is on top of ligno 135 f, meaning that ligno 135 e wasarrived earlier to the common destination than ligno 135 e. Lignoparameters has in this case determined that higher value ligno 135 f hasarrived earlier to the common destination than the lower value ligno 135e. Although a common destination is used for different value ligno andno marking has been made further transportation of the different lignotypes 135 e, 135 f may be easily separated due to its evident differencein size and shape. The common destination may not only be tagged withlongitude and latitude but also its spatial location, height, in thepile. Transportation from the common destination may be made indifferent time slots so that different transportation means may selectthe correct ligno for further transportation. Storing different types ofligno spatially differently at a common destination may be advantageouslogistically due to the fact that different quality of ligno may havedifferent final destinations.

FIG. 12 depicts that different classes of quality of ligno may betransported to the same location but at different points in time duringa day. Ligno 135 h of a first mix of ligno parameters and/or growingcondition is transported to common destination 201 at a first time 202b. ligno 135 h is picked up for further transportation before ligno of asecond mix of ligno parameters and/or growing condition arrives at saidcommon destination 201. Ligno 135 g arrives at time 202 a, which islater than 202 b. Using a common destination may be necessary when spaceis limited.

A certain point in time may be a specific time, a specific time range,between time A and time B, after time B or before time A. A certainpoint in time may be before or after a specific occasion or thatspecific requirements are fulfilled. It can also mean that specificligno, based on ligno parameters and/or growing condition may betransported, cut, harvested and/or left at a final destination whenspecific requirements are fulfilled. It may also mean that specificcommand, functions or the like is activated and when such commands orfunctions are activated, transportation, cutting, harvesting and/or dropof ligno at a final destination is started based on ligno parametersand/or growing condition in a specific order. It may also mean whenspecific requirements are fulfilled transportation is always or neverstarted for a specific ligno parameter and/or growing condition. Lignomay mean at least a portion of a tree, bush, or other wood-like speciessuch as bamboo. A ligno may be cut with or without delimbing.

A certain point in time may be the moment when directing a UAV to apredetermined destination for harvesting, transportation and/or cuttingand/or delivery of ligno at a predetermined location. Harvesting,transportation, cutting and/or leaving functions as a trigger forsetting a speed and/or acceleration of a UAV with or without load in apredetermined direction to a predetermined destination. A certain pointin time may be when a predetermined capacity per hour is reached, e.g.,a predetermined harvested amount per hour is reached, a predeterminedamount of ligno per hour is transported and/or a predetermined amount ofligno per hour is cut. Said capacity and/or speed may be controlled oroptimized based on weather condition, detected ligno parameter, detectedgrowing condition, transporting distance, power consumption and/orlogistic prerequisites. A certain point in time may be a capacity suchas a cut area or length per second, or number of cut trees, it can bemean, median or fastest or slowest.

A certain point in time may be, for both selection of a ligno andselection of a final destination, at which time different portions of aligno is to be transported, harvested, cut and/or delivered.

A certain point in time may be a targeted point in time and/or anestimated/predicted (based on simulations) point in time. A targetedpoint in time may mean that transportation, harvesting, cutting and/ordelivering is intended to happen a certain point in time. Anestimated/predicted point in time may mean that transportation,harvesting, cutting and/or delivering is expected to happen a certainpoint in time.

A final destination may be a place or position where the ligno isexpected to be delivered. The final destination may be a position in airwhere the ligno is dropped from the UAV to the ground.

In various example embodiments the UAV is configured with aerodynamicmeans, comprising rotors, fans, wings, or equivalent combination,interacting with the air so as to be capable to precisely control theUAV position, velocity, orientation and/or angular velocity.

A ligno trunk may have a length above 2 m and/or a diameter larger than10 cm and/or a weight larger than 10 kg. I various example embodimentsthe weight of the ligno trunk is larger than 50 kg. In various exampleembodiments the weight of the ligno trunk is larger than 100 kg. Invarious example embodiments the length of the ligno trunk is larger than3 m. In various example embodiments the diameter of the ligno trunk islarger than 20 cm. In various example embodiments the diameter of theligno trunk is larger than 30 cm.

FIG. 13 depict an example embodiment of a means for holding 105 directlyand/or indirectly onto at least a portion of a ligno trunk 135. In FIG.13 a plurality of ligno trunks 135 are held by said means for holding105. Ligno trunks 135 denoted with A are directly in contact with themeans for holding 105 whereas ligno trunks 135 denoted with B are onlyindirectly in contact with the means for holding 105. Ligno trunks B areheld by ligno trunks A. Ligno trunks B are only touching ligno trunks Awhereas ligno trunks A are touching the means for holding 105 and lignotrunks B. Heterogenous ligno trunks may be arranged for optimizing,weight distribution and/or load capacity. Stacking of ligno trunks inthe means of holding 105 in FIG. 13 may be based on ligno parametersand/or growing condition. The stacking of ligno trunks 135 in means forholding 105 may also be based on the final destination of the individualligno trunks 135, i.e., ligno trunks 135 to be delivered first on top ofthe stack and ligno trunks 135 to be delivered later further down in thestack of ligno trunks 135. Said means for holding may have a first typeof ligno trunks and/or ligno trunks to be delivered a first point intime to the left in said means for holding 105 and a second type ofligno trunks and/or ligno trunks to be delivered a second point in timeto the right in said means for holding. The means for holding maytogether with stacked ligno trunks form a new type of means for holding.

FIG. 14 depicts an example embodiment of a non-optimal stacking of lignotrunks. In FIG. 14 the load of ligno trunks is heavily skewed. Lignotrunks with its large diameter C are all arranged to the same end X ofthe means for holding 105 whereas the smaller diameter D are arranged tothe other end Y. This skewed stacking may not only result in anon-optimal weight distribution but also in a non-used load capacityvolume E.

FIG. 15 depicts a more efficient stacking of ligno trunks 135. Hereevery other ligno trunk is having the large end F to a first end X andsecond end Y of the holding means 105. Ligno parameters and/or growingconditions may be used for optimizing the stacking for achieving adesired weight distribution and/or load of ligno trunks 135.

FIG. 16 depicts an example embodiment of stacking of ligno trunks 135having essentially homogenous shape but of different density. In case ofstacking the means for holding 105 with high density ligno trunks Itowards Y and low density ligno trunks H towards X, said means forholding 105 will tilt in a clockwise direction due to the uneven weightdistribution, see FIG. 16M. Taking into account ligno parameters and/orgrowing condition a more efficient stacking may be achieved with adesired weight distribution by mixing the position of high and lowdensity lignos 135 in the means for holding 135, se FIG. 16N.

FIG. 17 a-c depicts three different load scenarios. In FIG. 17 a thereis an even weight distribution of ligno trunks 135 resulting in a meansfor holding 105 in an essentially horizontal direction with respect toground. In FIG. 17 b there is an uneven weight distribution of lignotrunks 135 and due to the type of attachment of the UAV 100 to the meansfor holding 105, both UAV and the means for holding 105 are tilted outof an horizonal plane. In FIG. 17 b the attachment means between the UAV100 and means for holding 105 are provided on the outskirts of the meansfor holding 105 and out of a center of gravity of said UAV. Theattachment means may be in the form of metal wires, metal rods, ropes orsimilar means. In FIG. 17 c the weight distribution of ligno trunks 135is uneven and due to the attachment of the means for holding 105 to acentre of gravity of said UAV 100, the UAV 100 may remain untilted whilethe means for holding 105 may be tilted.

FIG. 18 depicts a possible scenario with a tilted means for holding 105where ligno trunks 135 in said means for holding 105 risking to dropfrom the means for holding 105 due to its tilted position. Ligno trunks135 may drop from the means of holding 105 in windy transportationconditions or slippery ligno trunks 135.

The load capacity may be alterable due to the weight of the lignotrunks. A first support member and a second support member may berotatable with respect to each other around a rotation point. The firstsupport member may be attached with its top end to the UAV 100 and thesecond support member may be attached with its top end to the UAV 100.When the volume of the load and/or the weight of the load in said meansfor holding varies the load capacity may vary within a predeterminedload range.

FIG. 19 depicts a means for cutting 1930 delimbing and debarking a lignowhich has a hollow inner portion 1910 which may be caused by insectinfestation, fungis, age or similar. By debarking a tree not only thetree will die but also most likely the insects causing the insectinfestation. Means for delimbing and means for debarking may be one andthe same tool or different tools.

FIG. 20 depicts a possible scenario with a single holding means 105holding two ligno trunks 250, 260. Here the ligno trunks arenon-parallel with each other causing a relatively high air resistance.The relatively sprawling load of ligno trunks 150, 260 may be a resultof a single holding position of said means for holding in combinationwith a lifting said ligno trunks 150, 260 out of their own and/orcombined centre of gravity.

FIG. 21 depicts a possible scenario with a fixed volume holding means105 and a plurality of ligno trunks 135 as a load. With ligno trunks 135arranged irregularly in the means for holding 105 may causetransportation difficulties due to a risk of irregularly ligno trunksbeing jammed in other trees in the forest. Another problem with anirregular arranged load of ligno trunks is the larger air resistance itmay create which may increases the risk of drop of ligno trunk(s) inheavy winds and/or unstable transportation. In FIG. 21 ligno trunks Aand B are provided in said means for holding 105 in such a way that anyligno trunks protruding from said means of holding 105 is taking placein a predetermined direction. However, ligno trunks M and N are providedin said means for holding 105 in an irregular manner with respect toligno trunks A and B and any protruding of ligno trunks M and N may takeplace in any direction. Ligno trunks M and N may risk to drop of saidmeans of holding 105 in case of said means of holding and/or said lignotrunks M and/or N are touching any object during its transportation orif there is a windy condition during transportation.

FIG. 22A depicts a load of ligno trunks with an uneven weightdistribution. This may be created by arranging all of the ligno trunkswith its large end diameter in the same direction in said means ofholding 105. FIG. 22B depicts a load of ligno trunks with an even weightdistribution. This may be created by arranging some of the ligno trunkswith its large end diameter in a first direction and the remaining lignotrunks with its smaller diameter in the same direction. The arrangementof ligno trunks may be planned by using ligno parameters and/or growingconditions of the ligno trunk(s). A camera 2210 provided on said UAV 100may for instance be used for determining how to grip a first ligno trunk135 so that its geometry in known already before the gripping moment.Any information of how said first ligno trunk is held by holding means105 attached to said UAB 100 may later be used for providing said lignotrunks another holding means and or gripping a second ligno trunk withthe same holding means as holding said first ligno trunk for creating aneven weight distribution of a combined load of said first and secondligno trunks.

FIG. 23 depicts a single ligno trunk C 135 in a means of holding 105.Due to the size of the means for holding 105 and the size of the lignotrunk C 135, said ligno trunk C 135 may during transportation vary itsposition and cause an unstable transportation. This problem may beremedied by transporting a plurality of ligno trunks which may secureeach other in the means for holding 105.

FIG. 24 a depicts a means for holding 105 being too small for thediameter of the ligno trunk 135. The means for holding 105 does notenfold the full diameter of the ligno trunk 135 which may increase therisk of drop of ligno trunk 135 in a windy condition. In FIG. 24 b thefull diameter of the ligno trunk 135 is enfolded by the means forholding 105. In FIG. 24 c a plurality of ligno trunks 135 are completelyenfolded by the means for holding 105. In FIG. 24 d the means forholding 105 is holding a ligno trunk 135 having a much smaller diameterthan the load capacity of said holding means 105. Said holding means maycut itself into the ligno trunk 135 in FIG. 24 a for increasing the liftcapacity of said means for holding 105 and/or for further securing itsload.

FIG. 25 a depicts a means for holding 105 having ligno trunks 135 N atthe bottom and twigs M on top of said ligno trunks 135 N. Here the twigsM may risk falling out of said means for holding 105 whereas the lignotrunks 135 N are relatively secured at the bottom of said means forholding 105. FIG. 25 b depicts a means for holding 105 having the twigsM in the bottom and the ligno trunks 135 N on top of said twigs M. Herethe ligno trunks 135 N may risk rolling out of the means for holding 105whereas the twigs M is secured at the bottom of the means for holding105 by the weight of the ligno trunks 135 N.

FIG. 26 depicts a UAV 100 having attached to it a means for holding aligno trunk 105 and a means for cutting a ligno trunk 2670. In FIG. 26 aholding position is denoted by 2620 and a cutting position is denoted by2630. A ligno trunk may be cut with a means for cutting 116 based on atleast one ligno parameter of at least one ligno trunk in the pile ofligno trunks 2660. One such ligno parameter may be the length of theligno trunk. A ligno trunk held by holding means 105 may be cut forproducing a new ligno trunk 2650 having the same length as the lignotrunks in the pile of ligno trunks 2660. A remaining ligno trunk 2640may further be cut by said means for cutting 116 for producing yetanother ligno trunk to said pile of ligno trunks 2660 or being too shortto be cut and maybe transported to another storage position. A camera2610 provided on said UAV 100 may detect the length of the ligno trunksin said pile of ligno trunks 2660 and the length of the new ligno trunk2650. The cutting position may be determined by said camera 2610 and/orfrom a database.

In FIG. 27 a UAV is provided with a means for holding 105. Said meansfor holding is here holding a first ligno trunk 2740 and a second lignotrunk 2742. The first ligno trunk 2740 is having a center of gravity ata first position whereas the second ligno trunk 2742 is having a centreof gravity at a second position. A combined centre of gravity of saidfirst and second ligno trunks may result in a holding position 2720being positioned at a distance from a from the larger diameter of saidsecond ligno trunk 2742 and at a distance b from the smaller diameter ofsaid second ligno trunk 2742. The combined center of gravity position ofsaid two ligno trunks may when being held there result in a horizontaltransport of said first and second ligno trunks 2740 and 2742respectively.

FIG. 28 depicts a first ligno trunk 2840 having a first centre ofgravity 2860 and a second ligno trunk 2842 having a second centre ofgravity 2862. A combined centre of gravity 2866 may result in a sprawledligno trunk transportation which in most cases may not be optimal due tointer alia that the time for deposition of the ligno trunks may beincreased. However, the ligno trunks may nevertheless be transportedrelatively safely using the depicted position.

FIG. 29 depicts a ligno 2970 with a first ligno top 2972 and a secondligno top 2974. An UAV 100 with means for holding and/or means forcutting may cut off said first ligno top 2972, said second ligno top2974 or both of them.

FIG. 30 depicts an UAV 100 with means for holding 105 and/or means forcutting. Said means for cutting may cut off one or a plurality oftwigs/branches 3072 from a ligno 3070.

FIG. 31 depicts an UAV 100 with holding means 105. Due to a differentstrength of a tree trunk at a top portion and a bottom portion a holdingposition may be selected for prohibiting any cracking of the tree trunkduring transportation. A holding position too close to the top of theligno trunk may result in breaking the ligno trunk in two pieces asshown when holding at a first position 3110 too close to the ligno trunktop. A safe holding position 3120 may be provided from detected lignoparameters and/or camera detection and/or indirectly from one or aplurality of growing conditions for said ligno trunk for prohibiting anydamage to the ligno trunk during transportation.

FIG. 32 depicts an UAV 100 provided with a holding means 105. A lignotrunk 3230 is held in a horizontal direction. Any deposition of lignotrunks starting from a horizontal holding is more efficient than a lignotrunk arriving at a final destination having any other direction. Thismay minimize the time it may take to deposit the ligno trunk 3230 in thesame manner as the previously deposited ligno trunks 3260.

FIG. 33 depicts a ligno 3310 with numerous twigs/branches 3320. Asuitable holding position for a means for holding may be wheresufficient space between twigs/branches is present. In FIG. 33 3suitable holding positions are denoted by A, Band C. At A, B and C theligno trunk is free from twigs/branches between A1-A2, B1-B2 and C1-C2respectively. Non suitable holding position are denoted by D where thereare difficult to reach the ligno trunk because of twigs/branches.

FIG. 34 depicts a first and a second ligno close to each other. Possibleholding position in such case are not only limited by the location oftwigs/branches of the ligno to be held but also the position of thenearby ligno and its twigs/branches.

FIG. 35 depicts a scenario where a ligno 3510 is positioned close to arelatively large stone 3520. In such case the holding position is notonly limited by the position of the twigs/branches of the ligno but alsothe location of the stone in relation to the ligno. Suitable holdingpositions are denoted by A and B. At A the ligno trunk is free fromtwigs/branches between A1-A2. At B the ligno trunk is free fromtwigs/branches between B1-132. At B2 and further down to the ground thestone 3520 is the limiting factor for any holding position.

FIG. 36 depicts a first ligno 3610 and a second ligno 3620. The secondligno shall remain unharvested. The first ligno 3610 shall be harvestedin small portions with cutting positions A-E. The second ligno shallremain unharvested due to its higher value/quality whereas the firstligno 3610 shall be removed for further increasing the value of saidsecond ligno. The first ligno may be cut in portions for minimizing therisk of damaging the second ligno during harvesting. This may be thecase in windy condition and during particular points of time of theyear.

FIG. 37 depicts different cutting scenarios during harvesting. A lignomay be cut before transportation, during transportation or aftertransportation as shown in the top portion in the figure. A top portionof a ligno may be harvested first. The top portion may be harvested at aposition determined by the remaining length of the ligno. In an exampleembodiment the remaining length of the ligno after the top portion hasbeen taken off may be twice a length of ligno trunks provided at a finaldestination. The length may be detected by a camera or being providedfrom a data base. Any holding position of the ligno may be alteredduring transportation or at the final destination enabling cutting theligno at predetermined positions.ln FIG. 37A-D denoted different cuttingpositions resulting in ligno trunks having the same length L. 3701-3704denoted different holding positions of different portions of the lignotrunk.

FIG. 38 depicts different cutting scenarios. Ligno trunk 3801 isillustrated to be cut at different angles with respect to the lignotrunk. A cutting may be essentially perpendicular to the ligno trunk asillustrated with B. A cutting may be angled with respect to the lignotrunk as illustrated with A and C. Ligno trunk 3802 illustrates that acutting position may be at specific locations D, E or with in aninterval D-E, or above a certain point D, or below a certain point E.Ligno trunk 3803A illustrates a means for cutting and holding 3850 aligno trunk attached to said ligno trunk 3803A. A cutting position isdetermined to be at F. Ligno trunk 3803B is cut and has created acutting area H. A wire attached to the UAV, may force the cut portion ofthe ligno trunk to rotate in a predetermined direction illustrated by Gby reducing the length of said wire from said UAV to said cutting andholding means 3850. Ligno trunk 3804A illustrates that a first partialcut I may be made at a first position and a second partial cut J may bemade at a second position. Said first and second position may bepositioned essentially at the same height of said ligno trunk 3804A.Said first and second partial cut I and J respectively may beessentially in opposite to each. In various example embodiments morethan 2 partial cuts may be made in order to destabilize a ligno trunk,for instance 3, 4, 5 or more. A ligno trunk 3804B may be separated byproviding at least one means for holding 105 to said ligno trunk. Saidat least one means for holding is attached via a wire to at least oneUAV. The UAV may crack the ligno trunk 3804B by its drag force inhorizontal and/or vertical direction. The partial cuts I, J may be madeat a first point in time whereas the cracking by said UAV and saidholding means 105 may be made at a second point in time. Said first andsecond point in time may be simultaneous or said second point in timemay be second, minutes or days after said first point in time. Lignotrunk 3805A illustrates an example embodiment of partial cuts with anintention to crack the ligno in a predetermined direction by wind R orother external forces S. A first partial cut is denoted by P. Aplurality of cuts may be made in order to remove a volume O of the lignotrunk. Volume O may be removed by a first cut between L and N and asecond cut between M and N. Alternatively volume O may be removed by anumber of cuts M-N stopping at imaginary line N-L. Ligno trunk 3805B isbroken at Q by wind R or other external forces such as gravity, machineforce and/or human or animal force.

A cutting position may be direct or indirect. A direct cutting positionis determined by cutting the ligno trunk by a means for cutting. Anindirect cutting position may be determined by first cutting a ligno andthe part being cut off is further divided by its own weight duringtransportation or said cut off portion of the ligno trunk may be dividedinto pieces when falling to ground. A cutting position may be selectedtaking into account ligno parameters and/or growing conditions. A numberof possible cutting position may be determined out of which a few mayactually be used. A cutting position may be for removing a portion of aligno trunk. Alternatively, a cutting position may be a partial cuttingwhere no part of the ligno is removed, e.g., a cut less than half adiameter of the ligno. A partial cut may be less than 1 cm into theligno trunk. A partial cut may be less than 3 cm into the ligno trunk. Apartial cut may be less than 10 cm into the ligno trunk. A cuttingposition can be predetermined and it can change during cutting and/orduring harvesting and/or transport etc. depending on growing conditionsand/or ligno parameters.

In various example embodiments said UAV and said means configured forharvesting at least a portion of a ligno may be separated from eachother end reconnected with each other. One or a plurality of cameras orother suitable position sensors may be used for the reconnectionprocedure.

FIG. 39A depicts a road 3910, a river 3920, lignos laying on ground 3942and stump or remaining portion of the ligno 3940. As can be seen fromFIG. 39A the lignos laying on ground 3942 are not crossing the road 3910and/or the river 3920. Lignos laying on ground 3942 are also provided inessentially the same direction to the right of the road and essentiallyin the same direction to the left of the road, here a large diameter ofthe ligno trunk is pointing in the direction towards the road 3910.

In FIG. 39B lignos are provided in random directions and/or positions.In FIG. 39B Ligno 3922 is crossing the river 3920 and ligno 3912 iscrossing the road 3910. Lignos provided as in FIG. 39B will take moretime and is more difficult to remove from its location compared tolignos arranged as in FIG. 39A. Lignos that are provided randomly onground may be an obstacle for traffic on roads, make a forest moredifficult to move around in for humans and/or animals. Transportationmay also take longer time if lignos are in partial or complete disorderinstead if providing them on ground systematically in predetermineddirections.

FIG. 40A illustrates a first ligno 4020 which is cut and hitting anothernearby ligno 4030 in its fall to ground. Said another ligno 4030 mayrisk to be broken by the hit of said first ligno 4020. This may beremedied by harvesting using at least one UAV which will hold the lignoduring cutting and prohibiting said ligno to damage other lignos. Byusing a UAV holding a ligno during a cut may also reduce the pressure onthe cutting tool during cutting. By providing a force by said UAV in anupward direction of the ligno during cutting the weight of the lignoonto the cutting tool may be reduced or eliminated reducing oreliminating said cutting tool to be stuck while cutting said ligno. Inwindy conditions it may be necessary to cut from a predeterminedirection in order to let the ligno trunk fall in a predetermineddirection and not get stuck in other lignos in the vicinity. Lignosbeing inclined and/or having an uneven weight distribution may be cut inorder to let said inclination and/or uneven weight distributiondetermine the falling direction, the cutting position may be chosen inorder to reinforce such ligno parameter(s).

FIG. 40B illustrates a first ligno 4022 which has been cut intentionallyor unintentionally and has been stuck during its fall a second ligno4032. The second ligno 4032 is shown to be bent may the weight of theinclined first ligno 4022. Leaving this first ligno resting on saidsecond ligno a prolonged time, months, years, may reduce the value ofthe second ligno. Said second ligno may start to grow in a verticaldirection 4034 inclined from the reminder of the ligno 4032.

FIG. 41A illustrates a ligno 4130 which is cut with a non-perpendicularcutting area with respect to an axis parallel with the ligno trunk. Bycutting in direction F, ligno 4130 may start to glide in direction G andfall in direction E. The cutting area of ligno 4130 may follow hatchedlined H during its fall and land at a distance I from thestump/remaining portion of the ligno 4140. The height J of thestump/remaining portion of the ligno 4010 is one determining factor forsaid distance I.

FIG. 41B illustrates a first ligno 4134 and a second ligno 4132, 4142.Bycutting the second ligno 4132 in sections M, M/2 it may be possible toreduce its length and prohibiting branches of said first ligno 4134 tostuck in branches of said second ligno 4132. By cutting said secondligno 4132 in sections of M it may be possible to reduce its topposition to be below the lowest branch of said first ligno 4134 therebyallowing to fell said second ligno 4132 in direction N without riskingto get stuck in branches of said first ligno 4134.

FIG. 41C illustrates a method of cutting a ligno using an UAV 100 and ameans for cutting 4110. By accelerating the cutting in direction Xduring cutting it may be possible to throw/move a ligno 4136 a distanceZ from its stump 4144. This may be useful when trying to avoid any lignoon a sensitive area in the Z region.

In various example embodiments a plurality of UAV is used fortransporting a plurality of ligno.

The means configured for harvesting at least a portion of a ligno mayoptionally be capable for moving on ground. The movement may be withlegs, wheels or other suitable moving means.

In various example embodiments of the present invention a digitaltransmitter may be attached to a ligno for communication with a controlunit and/or at least one UAV and/or at least one means for harvesting atleast a portion of a ligno. Said digital transmitter may not only sendout the position of said ligno it is attached to but also send outinformation about distance to neighbour ligno, the terrain, the diameterof the ligno, the final destination of a non-harvested ligno and/orother quality parameters of the ligno such as type and/or curved trunk.The digital transmitter may be attached to the ligno by a UAV, landvehicle, robot or by a human. The digital transmitter function may alsobe implemented as a pure software digital recognition function by uniquefeatures of the ligno such as ligno rings, limb pattern or ligno bark.

The digital transmitter may be used to determine which ligno to beharvested, where to move the harvested ligno in order to simplifytransportation logistics. A digital transmitter may be used to moveligno/timber of different quality to different locations by said UAV. Adigital marking may be used to determine which UAV and/or means forharvesting at least a portion of a ligno trunk to be used. The digitalinformation may be used for using one or a plurality of UAV depending onthe size of the ligno to be harvested. The digital marking may be usedfor ligno thinning. The digital marking may be used in combination witha remote harvesting planning and/or ligno thinning process prior to theactual harvesting. With digital marking a map of ligno in apredetermined area may be used for guiding the UAV to the correct lignoto be harvested. The digital marking may also determine in which orderthe ligno shall be harvested in order to reduce the harvesting time. Thedigital marking may be used to estimate a future harvesting time. Thedigital marking may be used to determine which type of ligno there arein a particular area, the distance between ligno in a particular area,the topography of the land where ligno are to be harvested, the heightof the ligno, the quality of the ligno, the form of the ligno, thediameter of the ligno. The digital marking may determine prior toharvesting of the ligno shall be cut in portions. The digital markingmay be used to mark the different portion of the harvested ligno weight.

In various example embodiments of the present invention the quality of aharvested ligno may be predicted by studying at least one intrinsicparameter i.e., tree parameter and/or at least one extrinsic parameteri.e., growing condition.

In various example embodiments of the present invention detectedspectral properties and/or spatial structures of a portion of a lignomay be used as input for detecting ligno parameters and/or growingconditions of at least a portion of said ligno. Spectral properties andspatial structures may be detected on a microscopic and/or macroscopiclevel.

In various example embodiments of the present invention detectedspectral properties and/or spatial structures of a ligno's surroundingenvironment within a pre-determined distance may be used as input fordetecting ligno parameters and/or growing conditions of a portion of aligno. Spectral properties and spatial structures may be detected on amicroscopic and/or macroscopic level.

Shape of leaves or fir needles may be used as a ligno parameter.

Spectral properties and/or spatial structures may be from a cut surfaceof a ligno, a ligno trunk, a ligno branch, ligno leaves/fir needlesand/or a ligno leaves/fir needles. It may also be the spectralproperties and/or spatial structures of vegetation, species and/or theground within a pre-determined distance from said ligno. Spectral and/orspatial properties may be evaluated on pixel level.

In various example embodiments of the present invention spatialproperties of the tree to be harvested and/or transported and/or thespectral properties and/or the spatial structure of the ground and/orsurrounding may be used as input for determining the final destinationof at least a portion of a ligno and/or for determining if a portion ofa ligno is to be harvested. Spatial properties may be detected on amicroscopic and/or macroscopic level. Spatial properties may be from acut surface of a ligno, a ligno trunk, a ligno branch and/or a lignoleaves/fir needles. Spatial properties may be evaluated on pixel level.

The spatial properties of a tree may be used as an intrinsic parameterof a tree for predicting its quality. Various sensors may be used fordetermining temperature and/or humidity which in turn may be used forpredicting the quality of the tree.

The length of a tree may be the cut portion laying on ground waiting fortransportation. The length may be the total length above sea level. Thelength may be the total length above ground. The length may be thelength of a particular tree in comparison with at least one other tree.

In various example embodiments a ligno parameter may vary within asingle ligno (tree, bush). A ligno parameter may also vary between lignoof the same species. A ligno parameter may also vary between ligno ofdifferent species. A ligno parameter may be the temperature of theligno. The temperature of the ligno may be an indication about thehealth and thereby the quality of the ligno.

A ligno parameter may for instance be a chest heigh diameter of theligno trunk or a branch.

A ligno parameter may be various types of ligno deformations.

A ligno parameter may be the number of branches and its location on aligno. A ligno parameter may be the shape of the branches. A lignoparameter may be the number of dry branches or a dry branch.

A ligno parameter may be defects generated by weather, e.g., storm,fire, torrential rain, dry periods etc. In various example embodiments aparticular type of tree may not be harvested within a predetermined timeperiod after a rainy season such as birch.

A ligno parameter may be a ligno gene or a set of genes. Ligno genes maybe detected in a lab. Ligno genes may also be present together with theposition of the ligno when sowing the ligno.

A ligno parameter may be the number of leaves or fir needles. The numberof leaves or fir needles may be estimated by detecting a spectraldensity per unit area. A ligno parameter may be achieved by measuringspeed and/or movement of vibrations in a ligno and/or by measuring thespeed and sound of such vibrations through a ligno.

A growing condition may be hydrology of a predetermined area. Hydrologymay be presence of running water and/or soil moisture.

A growing condition may be climate and/or meteorological variables suchas wind, humidity, air pressure, radiation etc. A growing condition maybe the weather during a particular season, a depth of snow, average windspeed, sensitivity to storm damage. A temperature, fire and/or snowdepth etc. during a particular time-period may be a determining factorto harvest or not and/or if special equipment is needed.

Abiotic factors such as soil quality may be a growing condition and adetermining factor for ligno parameter. Abiotic factors in combinationwith a detection of annual rings, the shape of the tree, surroundingvegetation may give a good indicator of the quality of a ligno. Visualinspection of a ligno in combination with historical weather data maygive a strong indication of the quality/value of a ligno.

A final destination of a ligno may not only be determined in longitudeand latitude but also in height above ground level or sea level. Theheight and/or spatial position in relation to other portions of trees,ground or other objects variable may be useful if different types ofligno parameters is to be stored on the same location but beingtransported to yet another location at different times. The finaldestination may be a fixed position, a vehicle, but also a position inrelation to another object, portion of the landscape and/or apredetermined area or volume. The knowledge about the spatial locationof a particular ligno parameter in a pile of ligno trunks may belogistically advantageous.

A direction of felling a ligno may not only be determined in longitudeand latitude but also in height above ground level or sea level. Theheight and/or spatial position in relation to other portions of trees,ground or other objects variable may be useful if different types ofligno parameters is to be stored on the same location but beingtransported to yet another location at different times. The direction offelling may be to a fixed position, a vehicle, but also a position inrelation to another object, portion of the landscape and/or apredetermined area or volume. The knowledge about the spatial locationof a particular ligno parameter in a pile of ligno trunks may belogistically advantageous.

A growing condition and/or a ligno parameter may determine the finalquality of wood such as flat bend, edge bend and/or skew.

In various example embodiments a ligno may be cut in several portionsand said portions may be laid on ground. One of the smallest portionsmay be transported first and based on at least one of its treeparameters the weight of the remaining portions may be estimated.

Cutting a portion of a tree or a number of full trees may be performedfor increasing the value of the remaining portion of the forest.

A cutting position may be chosen in order to damage the ligno but notremoving any parts from the ligno, i.e., one or several cuts may beapplied onto said ligno so that said ligno may die within apredetermined time period. A cutting position may be chosen in order notto harvest the ligno but in order to destabilize the ligno so that theligno in a future windy condition may fall by itself. A cutting positionmay be chosen so that the ligno may dry up during one or several seasonand attain a greater energy value and harvested later when its drynessis better, and therefore have a better value as a fuel. Leaving av treetrunk to rotten may also in some circumstances be advantageous forbiological diversity. Damaging a ligno intentionally ma also cause theligno to lose its leaves or needles. Pick up may take place after theligno has lost all its leaves or needles. This may be advantageous sincelots of nutrition in said leaves/needles will return to the ground andfeed other plants.

The cutting position may be chosen in order to remove a particularportion of a ligno such as a portion of a ligno trunk. The cuttingposition may be chosen in order to maximize the value of the harvestedligno trunk. The cutting position may be chosen in order to increase thevalue of the remaining unharvested portion of the ligno. The cuttingposition of a ligno trunk may depend on at least one detected lignoparameter and/or at least one detected growing condition of at least aportion of a ligno. The cutting position may depend on the finalcustomer and/or the specific use of the harvested trunk. The cuttingposition may depend on the lifting capacity of one or a plurality ofUAV. The cutting position may depend on the distance from the originalcutting location and the final destination of the harvested ligno trunk.The cutting position may depend on the time of the year the ligno isharvested. The cutting position may depend on the weather conditionduring harvesting. The cutting position may depend on a specific loadcapacity of a timber truck. The cutting position may depend on specificdefects in a ligno such as fungal infestation and insect infestation.The cutting position may be chosen in order to maximize the value of thelignos in the vicinity of the cut ligno.

In various example embodiments at least one remotely and/or autonomouslycontrolled means for holding (105) at least a portion of a ligno trunkis attachable to said UAV. The means for holding (105) may be used forholding onto the ligno trunk while transport said ligno trunk and/orholding onto the ligno trunk while harvesting the ligno and/or holdingonto the ligno while delimbing and/or debarking the ligno. Holding maymean gripping the ligno trunk or resting the ligno trunk against saidmeans for holding. In various example embodiments means configured fordirecting said means for holding at least a portion of a ligno trunk toa particular position of said ligno trunk depending on said at least onedetected ligno parameter and/or said at least one detected growingcondition. The holding position may be dependent on the location ofbranches on said ligno trunk, the balancing of the ligno trunk whiletransporting it, the positioning of the ligno trunk in sad means forholding for prohibiting damaging of surrounding lignos/ligno trunks,prohibiting movement of the ligno trunk while debarking and/or delimbingand/or cutting and/or for a more efficient placement of said ligno trunkat its final destination. The holding position may vary depending on thenumber of tree trunk hat are held by said means for holding (105). Ifholding a first tree trunk the holding position may be a first position,if gripping a second tree trunk, the first position of said first treetrunk may be altered due to the simultaneous holding of said first andsecond tree trunk in order to achieve a desired balance. The holdingposition may also be depending on the weather condition, if wind still afirst tree trunk may have a first gripping position but in a windycondition said first tree trunk may have s second gripping position. Aholding position may be determined by a future operation such adebarking, cutting, delimbing and/or transportation etc.

The holding position may be altered during the handling of the lignotrunk. A first holding position may be during delimbing, a secondholding position during debarking, a third holding position duringcutting and a fourth holding position during transportation.

The holding position may also be chosen in order to minimize the damageto said tree trunk or other tree trunks.

The holding position and/or cutting position may also be dependent onsurrounding parameters such as surrounding lignos, terrain etc.

The holding and/or cutting position may also be dependent on itsforthcoming position in a pile of tree trunks. The holding position mayalso depend on removing a tree trunk from a pile of tree trunks onto atruck.

The holding and/or cutting position may also be real time adaptable bymeans of a camera. The holding position may take into account themovement of a ligno due to weather condition such as snow, wind etc.

The holding means (105) may be configured to move on ground and/or moveup and/or down on a ligno trunk. The holding means is attachable to saidUAV. The holding means may reach a predetermined ligno from ground orfrom air by a UAV. The holding means may be configured to climb theligno trunk. The holding means may be attachable to a delimbing tool.The delimbing tool may have delimbed the ligno independently of themovement of said holding means. The holding means may be attachable tothe UAV for transporting said at least a portion of the tree trunk awayfrom its original location.

The holding means and/or cutting means may be one or a plurality ofholding means. A plurality of holding means may be attachable to eachother. A plurality of holding means may achieve a plurality of holdingpositions on one and the same ligno trunk or different ligno trunks. Theplurality of holding means maybe connected to each other with a wire.

A coarse holding and/or cutting position may be made before reaching apredetermined ligno. The coarse holding and/or cutting position may beupdated with a more accurate holding position while at or near thepredetermined ligno by using a camera equipment. The more accurateholding/cutting position may be determined by a remote operator usingthe information form the camera equipment and/or automatically by usinga library of prestored pictures of lignos together with holdingpositions using artificial intelligence (AI).

Holding may include any form of gripping, resting, loading and/orcarrying at least a portion of a ligno trunk. Harvesting may be one or aplurality of sub-elements in a process of extracting at least a portionof a ligno from a particular land area or the full process chain ofextracting at least a portion of a ligno from a particular area.Sub-elements may be delimbing, debarking, cutting, holding, detecting,transporting, reloading, storing, etc. Said sub-elements may take placeat different points in time. A ligno trunk may be directly held by ameans for holding by holding directly at said ligno trunk. A ligno trunkmay be in-directly held by a means for holding by holding a twig and/ora branch of said ligno trunk. At least a portion of a ligno trunk mayindirectly or directly be held by a UAV at least once before, duringand/or after harvesting.

In various example embodiments of the present invention a cuttingposition may be selected a certain point in time, where said cuttingposition and/or said certain point in time is depending on treeparameters and or growing conditions of said ligno trunk or a lignotrunk within a predetermined area of said ligno trunk.

In various example embodiments of the present invention where saidsystem may be directed to cut a certain point in time to direct a lignoto fall or not to fall in a certain direction depending on lignoparameters and/or growing conditions and/or on a certain point in timewhen said cut ligno trunk is transported away from its original locationby said UAV. At least a portion of a ligno trunk may be cut andseparated from the remainder of the ligno a certain point in time. Pickup may be made at a certain later point in time. In various exampleembodiments of the present invention said means for cutting may beconfigured to cut at said selected cutting positions a certain point intime. Said cutting position(s) and/or said a certain point in time maybe depending on ligno parameter(s) and/or growing condition(s) on saidcut ligno trunk or said ligno trunk within a predetermined distance fromsaid cut ligno trunk. A ligno trunk may be directed to fell or not tofell in a certain direction a certain point in time depending on saidselected cutting position and/or said cutting on said cutting position acertain point in time.

In various example embodiments selecting a cutting position and type ofcut on a ligno trunk to be cut may depend on the type of ligno in orderto allow said ligno trunk to fell in a predetermined direction. Invarious example embodiments a ligno trunk may be released and/or not tobe released in a certain tree-felling direction a certain point in time.The at least one UAV may lift the tree during cutting. The UAV may forcethe ligno to fall in a predetermined direction by initiating a flyingdirection towards the desired falling direction while attached to saidligno trunk to be removed from the remainder of the ligno.

The system may further comprise means configured for directing duringcutting, by means of cutting, holding, with or without UAV, wind and/orother external forces at least a portion of a ligno trunk to fall and/ornot to fall in a certain direction. Said selected cutting positionand/or said certain point in time may be depending on at least onedetected ligno parameter and/or at least one detected growing conditionof a ligno trunk. The system may further comprise means configured fordirecting said at least one remotely and/or autonomously controlled UAVwith at least a portion of a ligno trunk to a final destination acertain point in time where said final destination and/or said certainpoint in time is depending on at least one detected ligno parameterand/or at least one detected growing condition of said transportedportion of a ligno and/or of a remaining portion of a ligno and/or of atleast one ligno grown within a predetermined distance from saidtransported portion of a ligno and/or at least one portion of a ligno atsaid final destination. A certain type of cut, direction, size, shape,location may be selected out of at least one ligno parameter and/orgrowing condition in order to allow said ligno trunk to fall in apredetermined direction. Said means for cutting may apply one or aplurality of partial cuts a certain point in time in order to allow aligno trunk to be separated from the remainder of the ligno a cerainpoint in time.

A cutting position and/or the type of cut of a ligno trunk may be oneparameter determining a falling direction of a ligno trunk. The fallingdirection may be within a predetermined angular interval for instance0-180°, 20-160°, 40-120°, 60-100°. A cutting position and/or the type ofcut of a ligno trunk may be one parameter determining a falling positionof a cut ligno trunk away from its original location. A ligno trunk maybe cut in order to fall onto a moving object or a stationary object suchas a transport vehicle. The falling of a ligno trunk may be with acertain speed, spin, rotation or movement. The ligno trunk may glide,roll and/or blow towards a certain position. The ground may be adetermining factor for the final position of a cut portion of a lignotrunk, e.g., slope, terrain and season may affect the final position.

A predetermined direction may involve simulation beforehand taking intoaccount ligno parameters and growing conditions in order to predict andchose a cutting strategy fulfilling desired characteristics. A certainpoint in time may be within a predetermined time interval, after apredetermined time, before a predetermined time or at a specific time. Acertain point in time may depend on other events, i.e., event B cannotstart before event A has been finished or when after fulfilling one orseveral requiments in a harvesting or transporting chain or process, forinstance reaching a ligno or a predetermined time. A specific choice offelling a ligno may be to reduce its total time, make as little damageto the nature, prohibiting the fell ligno to be an abstacle for animals,insects, traffic and/or water passage. Harvesting may be made forincreasing the value of the remainder of the forest, not blocking infrastructure, not damaging and/or blocking the harvesting tools, minimizesafety issues, reduce damage of the surrounding lignos, ecosystem and/orinfrastructure. Harvesting may also be performed for reducing damage ofthe harvested ligno such as cracks. A selected cutting position maydetermine the value of the removed/separated ligno trunk. The rotationspeed of the cutting tool, the force and speed said cutting tool isforced towards said ligno trunk may determine the value of the separatedligno trunk. One or a plurality of UAV may during cutting force theligno trunk to be separated from the ligno to fall in a predetermineddirection. Said UAV may also assist in prohibiting said cutting tool toget stuck during cutting by lifting the ligno trunk to beremoved/separated or to have a certain speed when cutting, or a certaincutting position, or at a certain point in time when the wind moves inthe right direction. A holding position may be a certain enfolding sizewhich may vary depending on the particular harvesting moment.Transportation may require a particular holding position whereasdelimbing or cutting may require other holding positions. A cutting of aligno trunk may be made at a certain point in time. A certain point intime may be a specific time during a day.A cutting of aligno trunk maybe made with a particular force and speed in a particular directionwhile holding the ligno trunk to be removed with at least one holdingmeans attachable to at least one UAV. The time for harvesting may be theactual cutting time for one or a plurality of ligno trunks. The time forharvesting may be the total time it takes to transport the means forcutting from a start position to a first ligno, cut said first ligno,transport said means for cutting to at least one other ligno, cut saidother ligno and transport said means for cutting to a final destination.

Holding may include any form of gripping, resting, loading and/orcarrying at least a portion of a ligno trunk. Harvesting may be one or aplurality of sub-elements in a process of extracting at least a portionof a ligno from a particular land area or the full process chain ofextracting at least a portion of a ligno from a particular area.Sub-elements may be delimbing, debarking, cutting, holding, detecting,transporting, reloading, storing, etc. Said sub-elements may take placeat different points in time. A ligno trunk may be directly held by ameans for holding by holding directly at said ligno trunk. A ligno trunkmay be indirectly held by a means for holding by holding a twig and/or abranch of said ligno trunk. At least a portion of a ligno trunk mayindirectly or directly be held by a UAV at least once before, duringand/or after harvesting. Said means for holding may hold said lignotrunk in a stationary position or said holding means may be configuredto move up and/or down on said ligno trunk.

In various example embodiments of the present invention a cuttingposition may be selected a certain point in time, where said cuttingposition and/or said certain point in time is depending on lignoparameters and/or growing conditions of said at least a portion of aligno trunk or a ligno trunk within a predetermined area of said lignotrunk.

In various example embodiments of the present invention where saidsystem may be directed to cut a certain point in time to direct a lignoto fall or not to fall in a certain direction depending on lignoparameters and/or growing conditions and/or on a certain point in timewhen said cut ligno trunk is transported away from its original locationby said UAV. At least a portion of a ligno trunk may be cut andseparated from the remainder of the ligno a certain point in time. Pickup may be made at a certain later point in time. In various exampleembodiments of the present invention said means for cutting may beconfigured to cut at said selected cutting positions a certain point intime. Said cutting position(s) and/or said a certain point in time maybe depending on ligno parameter(s) and/or growing condition(s) on saidcut ligno trunk or said ligno trunk within a predetermined distance fromsaid cut ligno trunk. A ligno trunk may be directed to fell or not tofell in a certain direction a certain point in time depending on saidselected cutting position and/or said cutting on said cutting position acertain point in time. The cutting may be made with a certain speedthrough a ligno trunk. The speed may be the moving speed of the meansfor cutting. Alternatively said speed may be a rotational speed of a sawchain or saw blade.

In various example embodiments selecting a cutting position and type ofcut on a ligno trunk to be cut may depend on the type of ligno in orderto allow said ligno trunk to fell in a predetermined direction. Invarious example embodiments a ligno trunk may be released and/or not tobe released in a certain tree-felling direction a certain point in time.The at least one UAV may lift the tree during cutting. The UAV may forcethe ligno to fall in a predetermined direction by initiating a flyingdirection towards the desired falling direction while attached to saidligno trunk to be removed from the remainder of the ligno.

The system may further comprise means configured for directing duringcutting, by means of cutting, holding, with or without UAV, wind and/orother external forces at least a portion of a ligno trunk to fall and/ornot to fall in a certain direction. Falling direction may depend onligno parameters and/or growing conditions. Said selected cuttingposition, cutting through, speed through and/or said certain point intime may be depending on at least one detected ligno parameter and/or atleast one detected growing condition of a ligno trunk.

During transporting, cutting and/or harvesting delimbing may take placea certain point in time. Delimbing may be performed for increasing ordecreasing the internal tension of the ligno trunk which may be helpfulin harvesting, transporting. Delimbing may be performed taking intoaccount ligno parameters and/or growing conditions. The system mayfurther comprise means configured for directing said at least oneremotely and/or autonomously controlled UAV with at least a portion of aligno trunk to a final destination a certain point in time where saidfinal destination and/or said certain point in time is depending on atleast one detected ligno parameter and/or at least one detected growingcondition of said transported portion of a ligno and/or of a remainingportion of a ligno and/or of at least one ligno grown within apredetermined distance from said transported portion of a ligno and/orat least one portion of a ligno at said final destination. A certaintype of cut, direction, size, shape, location may be selected out of atleast one ligno parameter and/or growing condition in order to allowsaid ligno trunk to fall in a predetermined direction. Said means forcutting may apply one or a plurality of partial cuts a certain point intime in order to allow a ligno trunk to be separated from the remainderof the ligno a cerain point in time. A UAV may be configured to blowwith at least one of its rotors forcing said ligno trunk to fall in apredetermined direction. Blowing direction may take into account lignoparameters and/or growing condition.

A cutting speed may be chosen so that the means for cutting will not getstuck during the cutting operation. An optimal cutting speed may varydepending on growing condition or ligno condition. The cutting speed mayvary depending on the type of tree, diameter, inclination, weathercondition or the like. The UAV may lift the ligno trunk while cutting toreduce or increase tension and/or pressure on the means for cuttingand/or within a ligno trunk when cutting and/or harvesting and/orharvesting. Ligno parameter and/or growing condition may be used fordetermining a required lifting force and/or required number of dronesfor prohibiting said means for cutting to get stuck during cutting. Acutting position may be selected and/or said UAV and/or other externalforces acting on said ligno to be cut in order to increase or decreaserequired cutting force and/or cutting speed. A falling process can startwhile cutting or when a tree is prepared to be cut by changing thepressure and /or tension within the tree trunk. A change in pressureand/or tension within the tree trunk during cutting or before cutting.Wind blowing from at least one rotor of at least one UAV may be used forpushing or pulling a particular portion of a ligno. At least one meansfor holding and/or at least one means for cutting may cut and/or holdtaking at different position depending on ligno parameters and/orgrowing conditions. A certain point in time may depend on lignoparameters and/or growing conditions. A falling can also be a change inpressure and tension within the tree trunk.

A system and/or method for system (10) for remote and/or autonomouscutting, holding, harvesting, transporting etc., may be one or aplurality of systems and/or subsystems working together by sharinginformation and/or preparing a ligno for each other. A first system anda second system may be synchronized with each other. Said systems mayperform different steps on different locations, in different mannersand/or at different points in time. At least one system may perform atleast one step with a land based (stationary or movable) device. Saidland-based device may be a land-based vehicle or a robot. A first systemmay at a first point in time detect at least one ligno parameter and/orgrowing condition for at least one ligno. A second system may use atleast one of said ligno parameter(s) and/or growing condition(s)detected by said first system at a second point in time. Said secondpoint in time may be seconds, hours, days, months or years later. Afirst system may select at least a ligno to cut. A second system may usea selection data about lignos to be cut from said first system andperform said cutting with at least one means for cutting. Said cuttingmay be performed at a later time compared to said selection. A firstsystem may select one or a plurality of lignos to be transported at acertain point in time. A second system may perform said transport by atleast one means for transporting by using the information from saidfirst system. A first system may select and/or detect a holding positionof at least a portion of a ligno trunk and/or at least one cuttingposition of at least one ligno trunk. A second system performs saidholding and/or cutting at said selected and/or detected cutting positionby means of at least one means for holding at least a portion of a lignotrunk and/or at least one means for cutting at least a portion of aligno trunk respectively. A first system may generate information at afirst point in time to be used in another system at a second point intime.

Systems that work together may have several system owners and/or systemmanufacturer. One or several systems can contribute to a step. Forinstance, one system may detect a ligno and/or ligno parameters andanother system may detect growing conditions. A system may have detectedligno parameters and/or growing conditions a number of years ago andsaved the position in relation to said detected ligno parameters and/orgrowing conditions. This saved information may be used at a later pointin time to predict ligno prameters. Growing conditions may be the samefor several year but may dramatically change if a major part of a forestis cut. Information about growing condition may be saved in a data baseand may be used later by one or a plurality of system as a base for oneor a plurality of harvesting decisions.

Ligno parameters and/or growing conditions may last or evolve over time.A ligno having a ligno parameter A year X may be predicted to have aligno parameter B year Y. Future ligno parameters may be predicted witha certain probability. Environment, such as terrain and climate maychange slowly whereas ecosystem and ligno(s) evolve over time. Lignosmay disappear. A system may perform a first moment which is dependent ona second moment having been performed by a second system.

A system may be a system of several system dependent or independent ofeach other. One or a plurality of sub-systems may go active or inactivewhile another system is performing a particular event. One system may bea master to the other system members (servants). One system may directanother system. One system may be a reserve system to another system. Adetection by a first system may be a confirmation of a previousdetection by a second system. A system may be a system of systems. Asystem may perform sub-elements in a chain of events. A first system maydetect growing conditions and/or ligno parameters, a second system maydetect the ligno to be harvested, and a third system may direct themeans for cutting to a particular ligno. A system may act on lack oninformation from another system. A system may change the number ofsub-system members over time due to various labour intense processsteps. It may be advantageous to use only relevant subsystems for aparticular task, i.e., one or a plurality of subsystems may be inactive.This may save battery time and/or process speed.

Feasible Modifications of the Invention

The invention is not limited only to the embodiments described above andshown in the drawings, which primarily have an illustrative andexemplifying purpose. This patent application is intended to cover alladjustments and variants of the preferred embodiments described herein,thus the present invention is defined by the wording of the appendedclaims and the equivalents thereof. Thus, the equipment may be modifiedin all kinds of ways within the scope of the appended claims.

In various example embodiments it is provided a system (10) for remoteand/or autonomous harvesting at least a portion of a tree, said system(10) comprising:

-   -   a first remotely and/or autonomously controlled Unmanned Aerial        Vehicle (100), UAV, comprising, at least one means for holding        (105) said harvested portion of said tree and being configured        for transporting said harvested portion of said tree away from        the original location of the tree, and    -   a second remotely and/or autonomously controlled Unmanned Aerial        Vehicle (100), UAV, comprising, at least one means for        harvesting at least a portion of a tree,    -   at least one means for detecting said tree to be harvested,    -   a base station (120) for communication with said first and/or        second UAV.    -   Said means for detecting said tree to be harvested may be        arranged on said first UAV, said second UAV and/or a third UAV        and/or a remotely and/or autonomously controlled land-based        vehicle. Said third UAV and/or said autonomously controlled        land-based vehicle may be in direct communication with said base        station and/or indirect communication with said base station.        Indirect communication may be via said first and/or said second        UAV.

In various example embodiments it is provided a system (10) for remoteand/or autonomous selecting at least a portion of a ligno to be cut,said system (10) comprising:

-   -   a remotely and/or autonomously controlled Unmanned Aerial        Vehicle (100), UAV, comprising, at least one means for cutting        said at least a portion of a ligno,    -   means for detecting said at least a portion of a ligno to be        cut,    -   means for detecting at least one ligno parameter of at least a        portion of a ligno and/or at least one growing condition of at        least a portion of a ligno,    -   a base station (120) for communication with said UAV, and    -   means configured for selecting at least a portion of a ligno to        be cut depending on at least one detected ligno parameter and/or        at least one detected growing condition of said cut ligno and/or        of a remaining portion of a ligno and/or of at least one ligno        grown within a predetermined distance from said cut ligno.

Harvesting may mean felling of ligno and preparing them for transportaway from its original location. Harvesting may include both thinningand clearfelling operations. Harvesting may be made depending on currentdemand for a particular tree parameter. Harvesting may be made dependingon current available storage capacity. Harvesting may be made dependingon season/temperature for maximizing a particular tree parameter.Harvesting may be made for maximizing the quality/growth potential ofthe remaining ligno in a particular area. Harvesting may also be madefor maintaining a forest having a diverse age. Harvesting may also bemade for maintaining a forest of a particular species, age and/orcomposition. Harvesting may be made for maintaining cultural and/oraesthetic values.

For instance, the disclosed system may also transport already harvestedligno or portions of ligno laying on ground. A plurality of UAV may beused for removing a plurality of ligno laying on ground to a finaldestination. A plurality of UAV working together in synchronism may takeone or a plurality of ligno or portions of ligno at the same time. Theselection of ligno to be transported may be made depending on the totalweight of the ligno or portions of ligno to be transported. Theplurality of UAV may have a maximum load capacity and maximum rangecapacity. Ligno or portions of ligno may be selected depending on theirlocation, weight, time and the current state of the UAV, i.e., remainingcharge and/or fuel. Harvesting may include all steps from locating aligno to fell to transportation of said ligno trunk to a final customer.Harvesting may mean any single step in a harvesting procedure such ascutting, delimbing, debarking, holding, transportation, identificationetc. Harvesting may mean removing at least a portion if a ligno trunkand transporting it for further use at another location, which anotherlocation typically is an end user far away from the original location ofthe ligno trunk. Harvesting may be made by multiple tools. I first toolmay be a debarking tool, a second tool may be a delimbing tool and athird tool may be a cutting tool. Said tools may be arranged on theligno trunk simultaneously or separately with a predetermined timeinterval.

The means for cutting may be released form an UAV onto a ligno trunkwhich is not to be harvested. Said means for cutting may move downwardson said ligno trunk and move to a particular tree on ground to be cut.In various example embodiments the means for cutting may be released ona first ligno trunk not to be harvested. Said means for cutting may movedirectly from said first ligno trunk to a second ligno trunk, i.e.,without any ground transportation.

In various example embodiments of the present invention at least aportion of a ligno is removed and left on ground. Said portion can beanything from a branch, a top section to a full ligno. Full ligno may beremoved without being taken care of, a so-called scrap ligno. A scrapligno may have a relatively low value in comparison with othersurrounding trees and/or for letting the remaining ligno in a particulararea to obtain the best possible growing conditions.

Throughout this specification and the claims which follows, unless thecontext requires otherwise, the word “comprise”, and variations such as“comprises” or “comprising”, will be understood to imply the inclusionof a stated integer or steps or group of integers or steps but not theexclusion of any other integer or step or group of integers or steps.Ligno is the generic term for any bush or tree.

1. A system (10) for remote and/or autonomous holding at least a portion of a harvested ligno trunk and/or at least a portion of a ligno trunk to be harvested and/or at least a portion of a ligno trunk during harvesting and/or at least a portion of a ligno trunk before, during and/or after transporting said at least a portion of a ligno trunk, said system (10) comprising: at least one remotely and/or autonomously controlled Unmanned Aerial Vehicle (100), UAV, at least one means for holding (105) directly and/or indirectly onto at least a portion of a ligno trunk attachable to or integrated with said UAV, at least one means for detecting at least a portion of a ligno, at least one means for detecting at least one ligno parameter of at least a portion of a ligno and/or at least one growing condition of at least a portion of a ligno, at least one base station (120) for communication with said UAV, at least one means configured for directing said at least one means for holding onto at least a portion of a ligno trunk, where said holding is directly or indirectly onto at least a portion of a ligno trunk, to a particular position of at least a portion of a ligno trunk depending on said at least one detected ligno parameter and/or said at least one detected growing condition of a ligno and/or at least one means configured for directing at least a portion of a ligno trunk to a particular position, where said particular position is directly or indirectly onto said at least one means for holding, depending on said at least one detected ligno parameter and/or said at least one detected growing condition of a ligno, wherein said at least one means for holding is configured to be transported by said at least one UAV to said at least a portion of a ligno trunk to be held by said at least one means for holding and/or is transported by said at least one UAV away from said. at least a portion of a ligno trunk held by said means for holding and/or where said at least one means for holding is attached to said at least one UAV at least once when holding during transporting and/or harvesting said ligno trunk.
 2. The system according to claim 1, wherein said means for holding at least one means configured for directing said at least one means for holding and/or at least one means configured for directing at least a portion of a ligno trunk is remotely and/or autonomously controlled.
 3. The system according to claim 1, wherein said system further comprising at least one means for delimbing, at least one means for debarking, at least one means for cutting and/or at least one means for harvesting.
 4. The system according to claim 1, wherein said at least one remotely and/or autonomously controlled means for holding (105) indirectly and/or directly at least a portion of ligno trunk is configured to move directly or indirectly on ground and/or move directly or indirectly up and/or down on a ligno trunk and/or configured to move directly or indirectly from one ligno to another ligno.
 5. The system according to claim 1, wherein said means for detecting said at least one ligno parameter and/or at least one growing condition comprising a camera and/or using a database with digital information about said at least a portion of a ligno and/or a ligno within a predetermined distance from said at least a portion of a ligno.
 6. The system according to claim 1, wherein said UAV and said means configured for holding directly and/or indirectly at least a portion of a ligno trunk is communicating with each other via one or more of Wifi, Bluetooth, radio communication, optical fibre and/or electrical wire.
 7. The system according to claim 1, further comprising means configured for automatically detect a final destination and/or locating a ligno in a predetermined area and/or locating a ligno at a final destination.
 8. The system according to claim 7, wherein said means configured for automatically locating a ligno in a predetermined area comprising at least a Global Navigation Satellite System, GNSS or a digital transmitter configured to be attached to a ligno and to communicate with the UAV.
 9. The system according to claim 1, further comprising a synchronization unit fur synchronizing the movement of at least two UAV for cutting, holding, delimbing, harvesting and/or debarking said at least a portion of a ligno trunk.
 10. The system according to claim 1, further comprising means for determining the number of UAV to be used together for transporting, cutting, delimbing, harvesting, debarking and/or holding said at least a portion of a ligno trunk depending on at least one ligno parameter and/or the distance between an original location of said at least a portion of a ligno trunk to a final destination.
 11. The system according to claim 1, further comprising means configured for selecting at least a portion of a ligno trunk to be transported, cut, held, delimbed, harvested and/or debarked depending on at least one detected ligno parameter and/or at least one detected growing condition of said ligno trunk to be transported and/or of another portion of a ligno from which said ligno trunk originates and/or of at least one ligno grown within a predetermined distance from said ligno trunk to be transported and/or a ligno at said final destination.
 12. The system according to claim 1, further comprising means configured for selecting at least one cutting position on at least a portion of a ligno trunk depending on the at least one detected ligno parameter and/or the at least one detected growing condition of at least a portion of a ligno.
 13. The system according to claim 1, further comprising means configured for directing said at least one remotely and/or autonomously controlled UAV with at least a portion of a ligno trunk to a final destination a certain point in time where said final destination and/or said certain point in time is depending on at least one detected ligno parameter and/or at least one detected growing condition of said transported portion of a ligno and/or of a remaining portion of a ligno and/or of at least one ligno grown within a predetermined distance from said transported portion of a ligno.
 14. The system according to claim 1, further comprising means configured for selecting at least a portion of a ligno trunk to be harvested and/or transported depending on at least one detected ligno parameter and/or at least one detected growing condition of said harvested and/or transported portion of a ligno trunk and/or of a remaining portion of a ligno trunk and/or of at least one ligno grown within a predetermined distance from said transported and/or harvested portion of a ligno trunk.
 15. A method for remotely and/or autonomously holding during, before and/or after harvesting at least a portion of a ligno trunk or holding at least a portion of a ligno trunk during, before and/or after transporting said at least a portion of a ligno trunk, said method comprising the steps of: controlling remotely and/or autonomously at least one Unmanned Aerial Vehicle, UAV, identifying said at least a portion of a ligno trunk to be held, operating at least one means for directly and/or indirectly holding said at least a portion of a ligno trunk, where said at least one means for directly and/or indirectly holding said at least a portion of a ligno trunk is integrated with or attachable to said at least one UAV, and detecting at least one ligno parameter of said at least a portion of a ligno trunk and/or at least one growing condition of said at least a portion of a ligno trunk and/or detecting at least one ligno parameter and/or at least one growing condition of at least one ligno grown within a predetermined distance from said at least a portion of a ligno trunk and/or detecting at least one ligno parameter and/or at least a growing condition of a another portion of a ligno from which said ligno trunk originates, wherein a direct or indirect holding position of said at least a portion of a ligno trunk is depending on at least one ligno parameter of said at least a portion of a ligno trunk and/or at least one growing condition of said at least a portion of a ligno trunk and/or depending onat least one ligno parameter and/or at least one growing condition of at least one ligno grown within a predetermined distance from said at least a portion of a ligno trunk and/or depending on at least one ligno parameter and/or at least a growing condition of a another portion of a. ligno from which said ligno trunk originates, wherein said means for holding is attached to said at least one UAV at least once when holding during transporting and/or harvesting said ligno trunk.
 16. The method according to claim 15, further comprising the step of determining the number of UAV to be used together for transporting said at least a portion of a ligno trunk depending on said at least one detected ligno parameter and/or said at least one detected. growing condition and/or the distance between the original position of said at least a portion of a ligno trunk and a final destination of said at least a portion of a ligno trunk.
 17. The method according to claim 15, further comprising the step of setting up a communication link between said UAV and said means for holding said at least a portion of a ligno trunk via one or more of WiFi, Bluetooth, radio communication, tele communication, optical fibre and/or electrical wire.
 18. The method according to claim 15, further comprising the step of identifying a first predetermined area within which a ligno trunk is to be held by means of a GNSS-system by means of at least one of a camera and/or at least one optical sensor.
 19. The method according to claim 15, further comprising the step of synchronizing a movement of at least two UAV for transportation of said at least a portion of a ligno trunk away from the original location of the ligno trunk to a final destination.
 20. The method according to claim 15, wherein the detection of said at least one ligno parameter and/or said at least one growing condition is performed by means of a camera and/or using a database with digital information of ligno in a predetermined area.
 21. The method according to claim 15, further comprising the step of selecting said at least a portion of a ligno to be harvested and/or transported depending on at least one detected ligno parameter and/or at least one detected growing condition of said harvested and/or transported portion of a ligno and/or of a remaining portion of a ligno and/or of at least one ligno grown within a predetermined distance from said transported and/or harvested portion of a ligno and/or at least one ligno at a final destination for said harvested and/or transported ligno.
 22. The method according to claim 15, further comprising the step of selecting a cutting position of a ligno trunk of said at least a portion of a harvested ligno trunk, at least a portion of a ligno trunk to be harvested, at least a portion of a ligno trunk during harvesting or at least a portion of a ligno trunk during transporting depending on at least one detected ligno parameter and/or at least one detected growing condition of said harvested portion of a ligno trunk and/or of a remaining portion of a ligno trunk and/or of at least one ligno grown within a predetermined distance from said harvested portion of a ligno and/or at least one ligno at a final destination for said harvested and/or transported ligno.
 23. The method according to claim 15, further comprising the step of transporting said at least a portion of a ligno trunk, by said at least one UAV, away from the original location of said at least a portion of a ligno trunk to a final destination a certain point in time, where said final destination and/or said certain point in time is depending on said at least one detected ligno parameter and/or said at least one detected growing condition of said at least a portion of a ligno trunk and/or of a remaining portion of a ligno trunk and/or of at least one ligno grown within a predetermined distance from said at least a portion of a ligno trunk and/or at least one ligno at a final destination for said harvested and/or transported ligno.
 24. The method according to claim 15, wherein said at least one means for holding and/or said means for detecting at least a portion of a ligno and/or at least one means for detecting at least one ligno parameter of at least a portion of a ligno and/or at least one growing condition of at least a portion of a ligno is remotely and/or autonomously controlled.
 25. An Unmanned Aerial Vehicle, UAV, configured to be used in a system according to claim
 1. 26. The UAV according to claim 25, further comprising a synchronization unit for synchronizing the movement of at least two UAV.
 27. At least one means configured for holding at least a portion of a ligno trunk and configured to he used in a system according to claim
 1. 